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NASA NTRS2018

Introduction to Tools and Techniques for Surface Sampling on Europa

The NASA Jet Propulsion Laboratory (JPL) is studying excavation and collection of a sample from an icy surface for a potential landed mission to Europa. Europa presents unique challenges in planetary sampling. Very little is known about the local topography and material composition of the surface. The environmental conditions of being cryogenically cold (80-130K), low gravity (~1/7th Earth), no atmosphere, low lighting conditions, and limited ground in the loop opportunities have forced JPL to look at sampling differently than past missions. Interacting with the surface of the Jovian moon requires a sampling system that is robust to local topography on the scale of the lander and/or the tool. In addition, the sampling system must be capable both of detecting faults and automatically adjusting to them to achieve the mission objectives without ground in the loop feedback. Presented here is an overview of a sampling system concept that involves a two-stage approach for collecting a sample. The first stage uses an excavation tool to prepare the surface site for sample collection by removing the top layer of irradiated material and clearing tailings from the hole. The second stage then generates and collects a sample for delivery to instruments on-board a lander. Also presented is an introduction for how autonomy and sensing technologies might be employed to enable mission success.

Tevere, Erica L.↗
NASA NTRS2020

Power Beaming for Deep Space and Permanently Shadowed Regions

Power beaming involves the wireless transfer of power, and could provide a revolutionary new way to power spacecraft and vehicles operating in difficult to access regions. Power beaming has the potential to represent an alternative solution to power spacecraft and landers where sunlight is unavailable. It could provide a source of power to robotic systems in permanently shadowed regions or power landers and rovers from orbiting spacecraft (e.g.,Moon, Mars, Europa, Enceladeus, Miranda).

Brophy, John↗
NASA NTRSDate not supplied

Artemis Lunar Surface VR/ARGOS Trainer

This proposal aims to provide insight by identifying potential risks and unknowns of lander egress and surface operations through a Mixed Reality (MR) planning, training, and analysis capability that integrates Virtual Reality (VR) simulations and the Active Response Gravity Offload System (ARGOS) in support of Artemis missions to the moon. The VR simulation will incorporate lunar digital elevation map data and imagery to provide accurate terrain of the south pole and Shackleton Crater. Date specific ephemerides will used to simulate the extreme lighting environment. Virtual representations of a lunar lander vehicle will be represented with a physical mockup of the porch and ladder assembly. Human-in-the-loop engineering test runs within ARGOS will be used to refine performance of the Mixed Reality interface with the mockup platform and define procedures for training.

Lee K Bingham↗
NASA NTRS2020

Design and Test of an Electromechanical Rover Tether for the Exploration of Vertical Lunar Pit

Moon Diver is a proposed mission to land and deploy an extreme-terrain, tethered rover for the exploration of Tranquillitatis Pit, a large vertical cave entrance into the subsurface of Earth’s Moon. By leveraging a supportive tether, the Axel rover, developed by NASA’s Jet Propulsion Laboratory, would perform a controlled descent into the pit and deploy instruments along the pit wall. The purpose of this mission concept is to study a volcanic secondary crust as a function of depth in order to determine formation processes and chemical makeup. The lifeline of the mission would be the tether, which provides power from, and communication to the top-side lander. Critically, the tether also serves as mechanical support between the suspended rover and the lander, which acts as an anchor. While space tethers have been deployed both in orbit and terrestrially, the use of the proposed tether is unlike any known in the literature; the tether must come into contact with the terrain while under load. With respect to the environment, the tether must also survive abrasion from glassy regolith and volcanic rocks, bending around sharp edges, thermal extremes, and exposure to full spectrum ultra-violet (UV) radiation, all while reliably transferring up to 100 W of power and 1 Mbps of data. Furthermore, since the Axel rover pays out tether from an internal spool, the tether’s diameter must be minimized to increase spool capacity, allowing for up to a 300-m traverse while also meeting static and dynamic strength requirements. This paper covers several phases of the tether’s initial development, including i) a trade study of structure and materials with consideration for space heritage, ii) selected design justification, and iii) results from tests on prototype tethers looking into mechanical, electrical, and environmental properties, including exposure to rock regolith abrasion, load profiles at temperature, and degradation due to UV exposure while exposed to vacuum. Finally, we provide insights and lessons learned from lab and field tests, which inform our continued effort to design a tether capable of surviving rugged, lunar conditions.

Nensas, Issa↗
NASA NTRSDate not supplied

The Lunar Lab Initiative

Analogous to terrestrial Antarctic basecamps at our south pole, space exploration outposts will be a combination of habitation and science-focused assets. The Artemis Exploration Roadmap endeavors to establish a sustained human presence on the lunar south pole starting in 2028. Within the planned Artemis Base Camp, most efforts to date have focused on the habitation assets or a mixture of science and habitation assets . With the recent advent of commercial lunar landing capabilities, the trade space can be further expanded to include dedicated science focused assets that ensure adequate science capability. To that end, the Forge, an innovation team initiative created at the Johnson Space Center (JSC), explored alternative ways to increase the science capabilities within the basecamp. The Forge uses structured brainstorming and facilitation to increase innovation within the assigned team, while executing its process in a rapid turnaround fashion for ideation and design study. As a pilot study for the Forge, a multi-disciplinary team investigated a lunar lab module to augment the lunar surface plans for Artemis. This formulation study evaluated the scientific and operational considerations for this dedicated crew space that would increase the capabilities of lunar surface science operations. The trade space evaluated single lunar lander delivery versus multiple lunar lander delivery for module assembly, alternative structural designs, the science instrument outfitting with mapping to scientific goals to maximize lunar science objectives, and how the lab would be operated. The lab operations options explored a stand-alone facility, as well as a facility integrated into a larger lunar surface complex, while evaluating crew usage and habitability considerations. The resulting alternatives were evaluated by the Forge team with a set of metrics to determine their originality, feasibility, and science performance, and thereby provide a recommendation to the lunar architecture planning team. Lessons learned from the lunar lab study were compiled to improve the process and tools for future Forge studies. Forward work, open issues, and challenges to further refine the design of the various science-focused asset options were also documented. By providing a robust science capability at humanity’s furthest outpost, we can plan for a sustained human lunar presence once the initial lunar surface access capability is well established.

Lunar outpost↗
NASA NTRSDate not supplied

NASA's Artemis Human Landing Systems

The Human Landing System (HLS) is the mode of transportation that will take astronauts to the lunar surface in NASA's Artemis lunar exploration program. On early missions, the astronauts will live inside the pressurized crew cabin portion of the lander for up to a week. The HLS program, based at Marshall Space Flight Center in Huntsville, Alabama, is working closely with commercial partners to build innovative and technically advanced lunar landers, leveraging decades of human spaceflight experience and the speed of the commercial sector. In addition to the NextSTEP-2 Broad Agency Announcement Appendix H Option A contract that includes one uncrewed and one crewed demonstration mission to the lunar surface, the HLS program is taking steps to establish a regular cadence of crewed missions to the surface of the Moon. This paper will discuss the HLS program’s latest development activities.

Lisa Watson-Morgan↗
NASA NTRSDate not supplied

Advances in Plume-Surface Interaction Simulation Capability Under Lunar Landing Conditions

Plume-Surface Interaction (PSI) between lander engine plumes and native regolith soil presents primary hazards in obscuration and contamination by particle clouds, high-energy ejecta streams, and landing area cratering damage. The MSFC Fluid Dynamics Branch has assembled a portfolio of simulation tools to develop a predictive PSI capability for NASA customers such as the Human Lander System (HLS) and Commercial Lunar Payload Services (CLPS). These tools are matured via funding by NASA’s STMD Game Changing Development Program and the NASA SBIR/STTR Program.

Peter A Liever↗
NASA NTRSDate not supplied

Next Generation Thermal Protection System for Outer Planet Probes and Orbiter

Saturn Probe and Ice Giant Orbiter along with in-situ Probe Missions continue to be very high priority mis-sions. A result of the advocacy by OPAG and other Analysis Groups, the 3D Woven, Dual-Layer HEEET thermal protection system, mature at TRL 6, has closed the TPS gap for extreme environment missions. A mid density follow on to DL HEEET, developed to meet earth entry requirements, is a Single Layer vari-ant of the 3D woven TPS, which provides a mass effi-cient single layer 3D Mid-Density TPS (3MDCP) that has been baselined as the heatshield for MSR EEV. Continued development of 3MDCP will elevate it to TRL 6 by 2025. Conformal-PICA (C-PICA) devel-opment was pursued to establish a more efficient and robust alternate to PICA, and it is at TRL 4+. Our rationale for the next generation of TPS de-velopment is based on the on the missions needs of the next decade Outer Planet missions that are unique and more demanding than any other destinations. Taking advantage of the recent planned development of sev-eral materials, the next generation of TPS offers a much more mass efficient option for small, medium, and large class Outer Planet missions. Saturn Probes: While mission designers are gen-erally interested in shallow entry to maintain the g-load during entry around 50g, the heat-load for shallow entry can range between (100 kJ/cm2 – 300 kJ/cm2), two orders of magnitude higher than Venus or Sample Return missions. TPS must not only offer protection but must be mass efficient to perform reasonable sci-ence. TPS mass can quickly become 50% or more of the mass of the entire entry system. Recent analysis performed shows Saturn Probe missions could signifi-cantly benefit from the single layer HEEET (SL-HEEET/3MDCP). A DL-HEEET based heatshield mass could be ~ (40% -50%), SL-HEEET can provide additional (30% - 50%) mass savings. At the same time, C-PICA can provide (30% - 50%) mass savings on the backshell. The combined mass savings can be significant enough to carry an additional probe, if de-sired. Ice Giant Aerocapture Missions: Aerocapture mission architectures can provide significant ad-vantage over traditional propulsive insertion missions in multiple ways. 1) Reduced trip time ~ (4- 6) years (30% -40%), 2) Enables placing the orbiter, probe, and lander, all together and 3) Allows for greater science mass (probes and landers) due to mass efficiency. The delivery of a probe from orbit makes it easier and eliminates mission design constraints by HEEET for direct entry [4] of probes and allows for more targeted in-situ science once the Orbiter is able to collect data. In the past 20 years, progress made in GN&C for lift-guided entry missions (MSL, Orion EFT1, Mars 2020) and the expertise in blunt body aerodynamics at large scale (~ 5m) has led the EDL community to conclude that aerocapture is a “go do” engineering activity. An aerocapture mission that will deplete the excess energy of a fast arrival mission will require a mass efficient TPS that can handle extreme heat-load, ~ (100 kJ/cm2 – 500 kJ/cm2). Hence TPS, feasibility as well as mass efficiency requires assessment. Utilizing the recent developments, a comprehensive, bounding analysis was done to establish the potential for SOA (HEEET) system as well as emerging new TPS such as SL-HEEET and C-PICA. In this proposed poster, we will outline the process by which we establish bounding aerocapture trajecto-ries for hyperbolic excess velocities ranging from 27 km/s to 35 km/s, for low L/D (~ 0.4) configurations and determine conservative/bounding estimate of aer-othermal environment by using a combination of CFD simulations and stagnation point heating estimates [7]. This engineering approach allows us to assess the TPS need vs. TPS capability and determine the applicability of existing TPS. Once an applicable suite of TPS is determined, the TPS thickness and mass are comput-ed. We show that the TPS mass fraction can be as low as 5% to as high as 20%, depending on the use of ad-vanced TPS, while HEEET is sufficient but will require 50% of the entry mass.

E Venkatapathy↗
NASA NTRSDate not supplied

Robust and Mass Efficient Thermal Protection Systems for Future Venus Missions

Several international Venus missions, both orbiter, and in-situ probe are in the works after a prolonged absence. Future missions are expected to be long-duration lander missions and balloon missions to investigate the cloud layer. The entry mass for these in-situ missions will be significantly higher, and the aeroshell will be larger, than previous missions. Two cardinal requirements govern the selection and use of thermal protection systems (TPS), namely, robustness to assure mission safety during entry and mass efficiency so that the useful mass for science is maximized. One cannot trade mission safety for mass when it comes to TPS. The robustness of the TPS is a paramount requirement as it is a single point of system failure. At the same time, TPS mass is carried for the entire mission duration prior to entry, and any excess TPS mass is at the cost of science payload. Future missions will benefit enormously from TPS options with mass and performance benefits far beyond advanced carbon-carbon (ACC) that is currently proposed for the DAVINCI mission. NASA STMD, and SMD jointly invested in the development of 3-D woven thermal protection systems in the last decade, and as a result, the Heat-shield for Extreme Entry Environment Technology (HEEET) TPS has been matured to TRL 6. It is ready for future mission use including Venus. The HEEET project focused on developing a broad technology base, applicable for missions not only to Venus, but also to Saturn, the Ice Giants, and higher speed sample return missions such as Mars Sample Return requiring extreme robustness due to bio-hazards. The dual-layer HEEET (DL-HEEET) is proven to be extremely robust. DL-HEEET performed well in arc jet and laser testing conditions where heritage carbon-phenolic failed. HEEET also proved to be more mass efficient compared to Carbon-Phenolic. Recently, the principal author was invited to present his perspectives to the 2023-2032 Planetary Sciences Decadal Venus subcommittee on the current state of TPS for future Venus missions [1]. In addition to pointing out successful TPS and other developments in the last decade in support of entry systems, the principal author made two findings: 1) importance of and need to sustain TPS capabilities that took nearly a decade to develop and 2) the opportunity to further optimize TPS mass without sacrificing robustness to further enable future in-situ missions. This talk will focus on the above two recommendations and provide the rationale for them. The intent of the talk is to seek advocacy from the VEXAG community for the criticality of TPS sustainment and the benefits of 3D woven TPS optimization. TPS Capability Sustainment: HEEET development was necessitated by the atrophy of heritage carbon-phenolic. Atrophy has impacted other TPS materials as well. Avcoat, the TPS that successfully allowed astronauts to explore the Moon in the 1960s and 70s, took nearly a decade and $10’sM to recover in support of Orion/Artemis. One of the most used TPS materials, SLA 561V, had to be recovered prior to its use on Mars Pathfinder. Phenolic Impregnated Carbon Ablator (PICA), the TPS that replaced SLA 561V on MSL, has undergone multiple replacements and recovery due to constituent rayon changes. Recently, NASA invested in a domestic rayon replacement program and also invested in FMI to consolidate PICA capability for NASA missions, as a result of FMI’s decision to discontinue commercial FiberForm, which is needed for PICA. TPS used for planetary missions are unique and have no other commercial or defense use. In addition, low mission cadence is also a driver for TPS atrophy. Hence, NASA, as the steward, must take steps to ensure and sustain TPS capabilities. In this talk, we outline steps NASA can take to keep abreast of emerging risks and target risk mitigation steps to ensure TPS capability sustainment for Venus and other extreme environment missions. Next Generation of Mass efficient and Robust TPS: NASA invested in an alternate TPS to PICA based on felt-technology called Conformal-PICA which has the potential to save 30% - 50% mass over PICA. The development was discontinued at a Technology Readiness Level (TRL) of ~ 5. 3D Mid-Density Carbon Phenolic (3MDCP) is a single layer variant of HEEET, based on the insulating layer only (SL-HEEET) and currently baselined for the Mars Sample Return Mission Earth Entry System due to its mass efficiency (30% more mass efficient than DL- HEEET). Currently, SL-HEEET is limited to aeroshell diameters of < 1.3m. The SL-HEEET was compared to DL-HEEET in the recent ADVENT flag-ship class mission study in support of the Planetary Science Decadal. SL HEEET was the recommended TPS based on 30% mass savings for both the balloon and lander missions. Given C-PICA and SL-HEEET have superior reliability and mass efficiency, advocacy from VEXAG is sought for completing their further development to TRL 5/6 in this decade so as to enable TPS readiness for future missions.

Thermal Protection Systems↗
NASA NTRSDate not supplied

A Protoflight Lightweight Surface Manipulation System to Enable High-Load, Long-Reach Lunar Surface Operations

There is a current critical need under the Artemis program for a versatile, high-load, long reach manipulation system that can provide payload offloading and handling for lunar landers. The Lightweight Surface Manipulation System (LSMS) is a highly structurally efficient, long-reach robotic arm that can be sized for a wide range of missions and payload ranges. The LSMS has more than a decade of heritage and testing at NASA Langley Research Center (LaRC), including laboratory and field testing of multiple end-effector tools and operational scenarios. With the need for rapid development of a flight-proven offloading capability and the desire to have that device be reusable for future missions and services, a 4-year program was initiated this year under NASA’s Space Technology Mission Directorate, to develop and build a protoflight unit of the LSMS, capable of lifting 1,000 kg on the Moon at an 8-meter reach. The target mission is to fly on a large cargo lander as a technology demonstrator to validate self-leveling, deployment, and payload handling operations, with future flights adding additional tools and capabilities. This paper provides a summary of the prior decade of work on the LSMS, the current mission drivers and goals, and details the first year of development of the LSMS toward a protoflight unit.

LSMS↗
NASA NTRSDate not supplied

A Protoflight Lightweight Surface Manipulation System to Enable High-Load, Long-Reach Lunar Surface Operations

There is a current critical need under the Artemis program for a versatile, high-load, long reach manipulation system that can provide payload offloading and handling for lunar landers. The Lightweight Surface Manipulation System (LSMS) is a highly structurally efficient, long-reach robotic arm that can be sized for a wide range of missions and payload ranges. The LSMS has more than a decade of heritage and testing at NASA Langley Research Center (LaRC), including laboratory and field testing of multiple end-effector tools and operational scenarios. With the need for rapid development of a flight-proven offloading capability and the desire to have that device be reusable for future missions and services, a 4-year program was initiated this year under NASA’s Space Technology Mission Directorate, to develop and build a protoflight unit of the LSMS, capable of lifting 1,000 kg on the Moon at an 8-meter reach. The target mission is to fly on a large cargo lander as a technology demonstrator to validate self-leveling, deployment, and payload handling operations, with future flights adding additional tools and capabilities. This paper provides a summary of the prior decade of work on the LSMS, the current mission drivers and goals, and details the first year of development of the LSMS toward a protoflight unit.

lunar surface↗
NASA NTRSDate not supplied

Path-Adaptive Guidance Algorithm Trades for a Two-Stage Lunar Descent Vehicle

For the next generation of NASA’s missions, explicit, path-adaptive descent guidance algorithms must provide the stability and customizability required for a safe and efficient descent to the lunar surface, while also meeting program and vehicle constraints. Several descent algorithms have been flown and tested for single-stage landers through the Apollo and Altair programs, but thus far little analysis has been conducted involving the application of these algorithms to a two-stage descent vehicle. Due to payload mass and fairing constraints of the existing fleet of launch vehicles, multi-stage descent architectures are a unique option for achieving the greatest possible mass to lunar surface. This paper seeks to compare the performance of guidance configurations of a lunar lander system consisting of two stages, one of which separates partway through descent. Through development of this paper, an optimization suite has been written that is specifically designed for optimizing planetary non-atmospheric two-stage descent trajectories, and is used as a baseline to compare the guidance algorithms tested. Time-to-go computational methods and ignition logic routines that may be employed in a lunar environment are also discussed. Preliminary results are presented that show relative performance metrics for a range of different guidance algorithm configurations.

Jason M Everett↗
NASA NTRSDate not supplied

The Chemistry and Mineralogy of Mars Soils: A Tour of Landed Mission Results from the Last 45 years

Eight landed missions demonstrated that martian soils (defined as loose, unconsolidated surface material) consist of basaltic mineralogy, iron (hydr)oxides, amorphous material, sulfate, chloride, (per)chlorate, nitrate, carbonate, and possible organic C. The Viking Lander 1 and 2 (1976), Mars Pathfinder (1997), and Mars Exploration Rover (MER-A,B) (2004) missions determined that martian soil was similar at all landing sites by having mafic chemistry, high S (~ 7 wt.% SO3) and Cl (0.7 wt.%), and spectral detections of poorly crystalline and crystalline Fe-(hydr)oxide phases. The MER Mössbauer spectrometers detected Fe-bearing olivine and pyroxene along with magnetite, nano-phase Fe-oxides (npOx), hematite, and ferric sulfate. The 2008 Phoenix Lander instrumentation measured a soil pH of 7.7 and detected ~0.6 wt.% perchlorate, 3-5 wt.% Ca-rich carbonate and carbon (500 gC/g) consistent with oxidized organics and Fe-rich carbonate. The 2012 Mars Science Laboratory (MSL) rover (Gale Crater) through X-ray diffraction detected plagioclase feldspar, pyroxene, magnetite, hematite, anhydrite, and quartz, with the balance being composed of Si/Fe-containing amorphous (30 to 40 wt.%) material. MSL evolved gas analysis detected (per)chlorate (0.4 wt.% ClO4), nitrate (0.23 wt.%), along with minor Fe/Mg sulfate and oxidized organic C (~2000 gC/g). Limited pedogenesis may have occurred at the 2018 InSight landing site and in one Gusev Crater soil (MER-B) which have 3 to 10 cm-thick duricrust horizons consistent with atmospheric water vapor interactions with soil salts. Martian soil primary mineralogy was derived mostly from local rock (volcanic, sedimentary) that is largely basaltic planet wide. Secondary minerals [e.g., sulfate, chloride, perchlorate, nitrate, carbonate, Fe-(hydr)oxides] in martian soils formed from oxidative aqueous alteration processes and were likely derived from a combination of local sedimentary rock sources and the global bright dust. The Mars 2020 mission will collect soil for Earth return to enable a thorough assessment of the nature and origin of martian soil.

Mars↗
NASA NTRSDate not supplied

NASA’s Artemis Human Landing Systems

The Human Landing System (HLS) is the mode of transportation that will take astronauts to the lunar surface in NASA's Artemis lunar exploration program. On early missions, the astronauts will live inside the pressurized crew cabin portion of the lander for up to a week. The HLS program, based at NASA’s Marshall Space Flight Center in Huntsville, Alabama, is working closely with commercial partners to build innovative and technically advanced lunar landers, leveraging decades of human spaceflight experience and the speed of the commercial sector. In addition to the NextSTEP-2 Broad Agency Announcement Appendix H Option A contract that includes one uncrewed and one crewed demonstration mission to the lunar surface, the HLS program is taking steps to establish a regular cadence of crewed missions to the surface of the Moon. This paper will discuss the HLS program’s latest development activities.

Lisa Watson-Morgan↗
NASA NTRSDate not supplied

Development of a Terrain Mapping/Crater Evolution Measurement using Diffractive Optical Elements

When landing on the moon, understanding the interaction of the engine exhaust plume with the lunar surface is critical for the success of the descent and landing flight phases. Two evaluation tools currently used are computational simulations and ground test measurements. Computational simulations require experimental measurements for comparison/validation, but ground test measurements cannot accurately emulate all aspects of an actual lunar landing; flight tests remain the only method of obtaining fully representative data. A terrain mapping/crater evolution measurement system was developed for potential inclusion on a future lander mission. This system uses two stereo cameras viewing a laser dot grid pattern projected on the ground, where the grid is created by shining a laser through one or two diffractive optical elements. CAD simulations of the stereo imaging system are first used to validate the proposed design. Laboratory testing of the system using both a large-scale fixed-geometry crater and a small-scale evolving-geometry crater validate the use of the system for terrain mapping measurements, and for its potential inclusion on a future lander mission.

Joshua M Weisberger↗
NASA NTRSDate not supplied

Building Lunar Maps for Terrain Relative Navigation and Hazard Detection Applications

Terrain Relative Navigation (TRN) systems localize a spacecraft with respect to a map of the surface by comparing descent imagery to that reference map. The spacecraft position estimates can only be as accurate as the reference map itself. Accurate map products that are based on orbital reconnaissance data must be validated for navigation applications to ensure that all relevant error sources are minimized. Currently available map products have been generated for scientific applications, so the need for accurate TRN maps remains a gap to be filled for upcoming lunar lander missions, in particular missions to the South Pole region. Additionally, representative high-resolution maps that contain lander-scale features are needed for successful development and testing of Hazard Detection (HD) systems. This paper describes one of NASA’s current efforts to develop benchmark data sets that can be used for developing and testing TRN and HD algorithms as well as suggested processes and metrics for generating and validating lunar maps that can be used for navigation and hazard detection.

Lunar Maps↗
NASA NTRSDate not supplied

NASA’s Human Landing System: Enabling the Next Generation of Lunar Science

The Human Landing System (HLS) is the mode of transportation that will take astronauts to the lunar surface as part of NASA's Artemis exploration program. HLS also serves as a research platform both on the surface and in lunar orbit, enabling critical scientific investigations on and of the Moon. With support at NASA centers around the country, the HLS program, based at Marshall Space Flight Center in Huntsville, Alabama, is working closely with its commercial partners throughout the development process to design and build innovative and technically advanced lunar landers – new vehicles designed for the modern era of space travel – leveraging decades of human spaceflight experience and the speed of the commercial sector. In 2019, NASA asked U.S. industry for proposals to design and develop a human lander for the first human mission to the lunar surface under Artemis. Initial contracts were awarded to Blue Origin Federation, Dynetics, and SpaceX to advance their designs. Following the execution of the ten-month Base Period, NASA announced in April 2021 that the agency selected SpaceX to move forward with its human landing system [1] and land the first two astronauts on the lunar surface during the Artemis III mission. Following two protest periods, NASA awarded the contract, known as Option A, to SpaceX in July 2021 and resumed work in November 2021 (Fig. 1). In parallel, the HLS program has been preparing for the acquisition that will procure regular crewed transportation to the lunar surface following Artemis III. NASA released a request for information (RFI) in July 2021 asking U.S. industry for feedback to help inform the future solicitation, known as Lunar Exploration Transportation Services (LETS) [2]. Also in July 2021, NASA released the NextSTEP-2 Appendix N broad agency announcement soliciting new work from U.S. industry to mature their HLS designs and perform risk reduction activities in advance of the LETS procurement [3]. NASA selected Blue Origin Federation, Dynetics, Lockheed Martin, Northrop Grumman, and SpaceX to participate [4]. This work will also help better inform the LETS procurement and prepare industry to propose. NASA hopes to release a draft request for proposals (RFP) in Spring 2022.

R C Weber↗
NASA NTRS2020

High-capacity ATHLETE Offloader Mobility Constructor Concept for Human Surface Exploration

Using cross-cabled, winch-tendon four-bar frames, a new Artemis-class ATHLETE system is a multi-limbed robotic mobility platform that is designed for surface traverse, precision placement, and offloading of heavy habitats and other large human exploration payloads from high-decked landers. Building upon lessons learned from the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robotic mobility system developed for Constellation Lunar Surface Systems and Evolvable Mars Campaign, a high-capacity articulated crane / lift vehicle concept has been devised that would be equipped with multi-limb six-degree-of-freedom dexterity for a variety of tasks supporting planetary surface human exploration missions and outposts. The Artemis-class ATHLETE vehicle would use any combination of three to six wheel-onlimb combinations to provide a wide “outrigger” stance to transfer loads from a high center-of-gravity on sloped terrain to low stable carry configurations for long-distance traverses, and be capable of precision docking of payloads to previously positioned elements. The new vehicle concept improves upon previous Constellation-class ATHLETE versions by allowing modular hot-swapping of individual limbs to improve maintenance and flexibility. The extreme-capacity independent limbs can individually function as single cranes, and can be delivered separately via multiple lander manifests for later congregation into self-driving “Tri-ATHLETE” vehicles after delivery to the surface. This paper provides mission architecture targets and vehicle masses for stepped payload capacity values in Earth, Mars, and Lunar gravity environments, and discusses a variety of swappable tools, including wheeled mobility attachments, grippers, excavation tools, repair fixtures, ISRU extraction, winches, block & tackle rigging combinations, 3D printheads, and construction aids.

Wilcox, Brian↗