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At least 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

Hydropower Geotechnical Foundations: Current Practice and Innovation Opportunities for Low-Head Applications

Hydropower is a renewable energy resource that produces electricity from flowing water under pressure. Engineered hydropower structures, such as dams, are used to create a hydraulic head, enabling a turbinegenerator unit to convert pressurized flow into electricity. While hydropower has been a source of renewable energy since antiquity, new development in the United States has slowed in recent decades. Based on recent resource assessments, the largest opportunity to expand hydropower in the United States is from new stream-reach development (i.e., new hydropower development along stream-reaches that do not currently have hydroelectric facilities or other forms of infrastructure, such as dams). Roughly 75% of identified new stream-reach development potential is from low-head sites (less than 30 ft of head), which typically suffer from smaller power densities and higher normalized costs, given economies of scale. Hydropower developers and other stakeholders are thus interested in strategies to reduce initial capital costs while practicing sustainable development to maximize environmental compatibility with minimal disruption to natural aquatic life, sediment, and water flows. Historically, civil works have represented a significant cost driver for new hydropower development, with the foundation system representing a major cost component and source of uncertainty. The foundation system is the collection of engineered structural features (e.g. cutoff trenches, walls, grouting, anchors) constructed at or below the preconstruction ground surface that interfaces between the overlying structures (superstructures) and the bed material below (subsurface). Development of a hydropower foundation system must consider the various characteristics of the surrounding stream environment and subsurface while adhering to the engineering requirements of the superstructure that it supports. The care of water, excavation, and other construction activities are important features of foundation design and construction. The design and construction cost of the foundation system is largely dependent on the site geology and riverbed composition and is influenced by the level of geotechnical assessment required and conducted. Thus, a hydropower facility’s geotechnical foundation is often highly site-specific, with proper site selection and assessment being important to project success. The foundation system is designed to provide structural stability (of the foundation and dam), limit seepage, ensure public safety, and maintain functionality for the project life, during both construction and facility operations. Inadequate foundation or dam design can result in dam failure and the uncontrolled release of significant volumes of water, which could cause a high number of casualties and extensive property damage downstream of the failure. According to the Association of State Dam Safety Officials, approximately 30% of all historical dam failures in the United States are attributed to foundation or abutment defects, and another 20% are attributed to piping or seepage through the embankment, foundation, or abutment. To ameliorate these safety considerations, foundations often require massive amounts of construction material (e.g., grout, concrete, engineered dam fill) and long construction times. Foundation design also requires significant analysis prior to construction because the initial in-stream and abutment subsurface conditions are site-specific, and sufficient data for them often are lacking. Current practice requires on-site assessment, using expensive drilling and invasive and non-invasive investigation methods, to determine the expected cost of foundation material and treatment. Additionally, foundation construction often requires site dewatering (and other care of water activities), which involves constructing temporary diversion structures upstream and often downstream, called cofferdams, and water diversion systems that route water around the construction site. Cofferdams and water diversion systems can drastically increase construction costs and contribute to environmental disruption, including modification of flow patterns and benthic habitats. Given the technical, economic, and environmental challenges associated with hydropower foundations, opportunities exist to improve the current state of practice and to develop new and innovative solutions to Hydropower is a renewable energy resource that produces electricity from flowing water under pressure. Engineered hydropower structures, such as dams, are used to create a hydraulic head, enabling a turbinegenerator unit to convert pressurized flow into electricity. While hydropower has been a source of renewable energy since antiquity, new development in the United States has slowed in recent decades. Based on recent resource assessments, the largest opportunity to expand hydropower in the United States is from new stream-reach development (i.e., new hydropower development along stream-reaches that do not currently have hydroelectric facilities or other forms of infrastructure, such as dams). Roughly 75% of identified new stream-reach development potential is from low-head sites (less than 30 ft of head), which typically suffer from smaller power densities and higher normalized costs, given economies of scale. Hydropower developers and other stakeholders are thus interested in strategies to reduce initial capital costs while practicing sustainable development to maximize environmental compatibility with minimal disruption to natural aquatic life, sediment, and water flows. Historically, civil works have represented a significant cost driver for new hydropower development, with the foundation system representing a major cost component and source of uncertainty. The foundation system is the collection of engineered structural features (e.g. cutoff trenches, walls, grouting, anchors) constructed at or below the preconstruction ground surface that interfaces between the overlying structures (superstructures) and the bed material below (subsurface). Development of a hydropower foundation system must consider the various characteristics of the surrounding stream environment and subsurface while adhering to the engineering requirements of the superstructure that it supports. The care of water, excavation, and other construction activities are important features of foundation design and construction. The design and construction cost of the foundation system is largely dependent on the site geology and riverbed composition and is influenced by the level of geotechnical assessment required and conducted. Thus, a hydropower facility’s geotechnical foundation is often highly site-specific, with proper site selection and assessment being important to project success. The foundation system is designed to provide structural stability (of the foundation and dam), limit seepage, ensure public safety, and maintain functionality for the project life, during both construction and facility operations. Inadequate foundation or dam design can result in dam failure and the uncontrolled release of significant volumes of water, which could cause a high number of casualties and extensive property damage downstream of the failure. According to the Association of State Dam Safety Officials, approximately 30% of all historical dam failures in the United States are attributed to foundation or abutment defects, and another 20% are attributed to piping or seepage through the embankment, foundation, or abutment. To ameliorate these safety considerations, foundations often require massive amounts of construction material (e.g., grout, concrete, engineered dam fill) and long construction times. Foundation design also requires significant analysis prior to construction because the initial in-stream and abutment subsurface conditions are site-specific, and sufficient data for them often are lacking. Current practice requires on-site assessment, using expensive drilling and invasive and non-invasive investigation methods, to determine the expected cost of foundation material and treatment. Additionally, foundation construction often requires site dewatering (and other care of water activities), which involves constructing temporary diversion structures upstream and often downstream, called cofferdams, and water diversion systems that route water around the construction site. Cofferdams and water diversion systems can drastically increase construction costs and contribute to environmental disruption, including modification of flow patterns and benthic habitats. Given the technical, economic, and environmental challenges associated with hydropower foundations, opportunities exist to improve the current state of practice and to develop new and innovative solutions to challenges frequently encountered with traditional approaches. With this understanding, it is critically important to understand and document the current state of practice for hydropower geotechnical foundations, identify key challenges, and define opportunities for innovative solutions. To this end, this report documents the current state of practice across the three main phases of geotechnical foundation development: (1) geotechnical site assessment, (2) design, and (3) construction for hydropower systems. It also describes the major challenges with conventional approaches and identifies opportunities for innovation to reduce hydropower foundations costs, timelines, and risks. Key takeaways from this report include the following: Approximately 80% of available low-head sites are expected to have foundations on soil beds rather than rock beds, suggesting that rockfill and earthfill dams may be the most cost-effective conventional dam type for new projects.; Geotechnical and geologic investigation activities are time-consuming and expensive but are essential to define the parameters and criteria needed for foundation design.; Certain riverbed soil and bedrock types present significant technical challenges or require expensive foundation construction, which can prove financially prohibitive for low-head project development.; Modular hydropower design and prefabricated modular foundations represent a promising but unproven paradigm for new hydropower development. Design and construction approaches using optimized and highly repeatable, reliable components would benefit project cost, time, and risk but require additional research and development.; Temporary construction features for foundations, including cofferdams, water diversion, and water control systems, can prove costly and have inherent construction risk.; For economically viable development, hydropower geotechnical foundations should be limited to 4 to 15% of the project’s total initial capital costs. Many proposed projects have experienced cost overruns attributable to foundation difficulties or surprises during construction. These overruns may have been due to inadequate investigations, lack of adequate engineering effort to tailor the structures to site geology and topography, and/or contractual terms, among other considerations.; Challenges for hydropower foundations and opportunities for innovative technology solutions are identified in the following areas (consistent with the three main phases of foundation development): Geotechnical site assessment, Foundation design and materials, Construction methods and technology. Ultimately, this report aims to provide information about geotechnical foundations for low-head hydropower and to motivate transformative technologies to support hydropower growth.

13 HYDRO ENERGY↗
DOE OSTI2020

Portable interactive visualization of large-scale simulations in geotechnical engineering using Unity3D

Development in large-scale geotechnical engineering simulation places tremendous demand for efficient visualization of such simulation data. This study presents a lightweight software tool, i.e. Geotechnical Interactive Visualization (GIV), as a solution to this challenge, which achieves efficient interactive visualization of large-scale simulations data in geotechnical engineering. Visualization data flow and algorithms specifically optimized for common geotechnical engineering applications are implemented in GIV. GIV can visualize geotechnical structure models with time-varying attributes attached to mesh with fixed topology, and also models with time-varying mesh topologies but no attributes attached, the two most common visualization tasks in geotechnical engineering. Furthermore, challenges for large-scale simulation data visualization, including parallel simulation data redundancy, massive data size, dynamic user interaction, and portability are overcome via specifically designed algorithms for simulation data preprocessing and optimized visualization modules using the powerful 3D rendering and interactive game engine Unity3D. Comparison of GIV with several widely used visualization tools for the visualization of large-scale idealized datasets and realistic geotechnical simulations highlights the visualization efficiency, smooth interactivity, and lightweight features of GIV.

42 ENGINEERING↗
NASA NTRSDate not supplied

Updating Lunar Subsurface Geotechnical Properties Based Upon Nonlinear Winkler Modeling of Apollo and Lunokhod Measurements

Returning human and robotic explorers to the lunar surface has identified a need for a renewed understanding of lunar geotechnical properties related to landing on and exploring the lunar surface. We review fundamental lunar geotechnical properties such as bulk density, cohesion, friction angle and shear strength, and apply new data derived from Apollo and Lunokhod geotechnical measurements to update the understanding of lunar regolith behavior. The analysis derives a new, nonlinear relationship of lunar geotechnical properties as a function of depth.

Lunar Geotechnical engineering↗
NASA NTRS2023

An Engineering Guide to Lunar Geotechnical Properties

The renewed interest in returning human and robotic explorers to the lunar surface has identified a need for a renewed understanding of lunar geotechnical properties related to landing, exploration, excavation, and construction activities on the lunar surface. This paper summarizes measurements conducted during US and Russian/Soviet landed missions as well as experiments performed on returned samples to establish fundamental geotechnical properties such as particle size distribution, particle shape, bulk density, shear strength, cohesion and bearing strength. While many of these properties are well known, how they vary with increased lunar soil depth is less understood, and those properties that vary significantly as a function of depth are explored in additional detail. Selected examples discuss mechanical excavation forces, rocket exhaust erosion forces, and the preparation of launch/landing pad surfaces, with the goal of a better understanding of lunar soil geotechnical properties that apply to large-scale exploration of the lunar surface and dictate the design of future exploration systems.

Lunar Soil↗
DOE OSTI2024

Jackson, L., Johnson, M.B., Latrach, A., Grimes, D., Martinez, C., and Mclaughlin, J.F., 2024, Multidisciplinary geotechnical data collection, curation, and analysis for conformity with the regulatory framework for geologic carbon storage in Wyoming, USA: Geological Society of America Abstracts with Programs. Vol. 56, No. 5, 2024, doi: 10.1130/abs/2024AM-405024

Title: Multidisciplinary Geotechnical Data Collection, Curation, and Analysis for Conformity with the Regulatory Framework for Geologic Carbon Storage in Wyoming, USA. Text: Construction and operation of wells for geologic sequestration of carbon dioxide necessitate that they are permitted under the Environmental Protection Agency’s Underground Injection Control Class VI requirements. Class VI wells conform to stringent requirements to ensure long-term safety and integrity of the storage site and the protection of Underground Sources of Drinking Water. Entities pursuing Class VI permitting must provide comprehensive geologic site characterization, including regional geologic structure and stratigraphy, aquifer information, reservoir and confining unit geomechanical properties, geochemical analyses, assessment of trapping capacity and mechanisms, and a variety of other of multidisciplinary geotechnical data. The Wyoming Class VI Site Characterization Database Project is focused on developing a geologic site characterization database of geotechnical information, which has been compiled and verified from established, public databases/entities and scientific literature to expedite Class VI permitting in Sweetwater County within the Greater Green River Basin of southern Wyoming. The preliminary suite of compiled data from 14,000 wells includes 8,000 wells with logs and 7,250 wells with formation tops, ~70 wells with core data (e.g., X-Ray diffraction, petrographic, and petrophysical data), ~2,500 water analyses, ~740 seismic events data, and ~520 bottom-hole temperature measurements. Future work on—and stemming from—this project will include new core analyses, calculation and interpolation of subsurface temperature gradients, mechanical earth models, geochemical simulations, storage capacity estimation, stratigraphic column generation and correlation, and construction of subsurface maps. Finally, this work will help to inspire and facilitate subsurface data compilation and curation beyond Sweetwater County, Wyoming.

42 ENGINEERING↗
NASA NTRSDate not supplied

Lunar Regolith: Small Scale Robotic Site Preparation and Geotechnical Experiments with Scoops

- NASA’s Moon-To-Mars Planetary Autonomous Construction Technology (MMPACT) project seeks to research, develop, and demonstrate lunar surface construction capabilities. - Quantification of lunar regolith’s geotechnical properties allows for effective prediction of forces and displacement during excavation and construction and is critical to facilitating regolith sintering capabilities all of which benefit lunar infrastructure plans. - Knowledge of shear strength, Mohr-Coulomb cohesion, angle of internal friction, bearing strength, bulk density, etc. is needed. - The use of ground-based testing of various lunar simulants with relevant hardware (e.g., robotic arm tools) enables validation of technology choices, tool paths, and lunar surface construction activities. - In addition, the use of Taguchi methods [1] will minimize the number of needed experiments to explore critical input parameters. - The Jet Propulsion Lab is preparing to fly the COLDarm payload on a CLPS lunar mission with a geotechnical measurement scoop

Regolith↗
DOE OSTI2025

Toward more-robust, AI-enabled subsurface seismic imaging for geotechnical applications

Non-invasive seismic imaging has the potential to cost-effectively evaluate large volumes of subsurface material to inform geotechnical site investigation. However, seismic imaging using full waveform inversion (FWI) requires significant computational time and is dependent on an initial starting model. As a result, FWI has not yet been widely adopted into geotechnical practice. Previous efforts, on relatively simple two-layered models, indicate that data-driven artificial intelligence (AI) models may be as effective as FWI at predicting 2D images of shear wave velocity (V s ). Furthermore, the AI model predictions can be made almost instantaneously after data acquisition and do not require an initial starting model. We examine the generality of these findings by developing a new AI model for subsurface seismic imaging, whereby we make several notable contributions. First, we architect a multimodal AI model that combines time- and frequency-domain representations of the seismic wavefield to predict a 50 m by 20 m subsurface image of V s . Second, we developed a new diverse dataset of 100,000 images with their corresponding seismic wavefields to train the AI model. Third, we propose four physics-informed data augmentations for data-driven seismic imaging. Fourth, we develop two prediction consistency tests to evaluate the model’s performance when the true subsurface is unknown. Our final model, which has been made publicly available, is capable of predicting a subsurface V s image from a single seismic wavefield with an average, mean absolute percent error (MAPE) of 24 %. The predictive model is applied to a field dataset and shown to be consistent with local geology and shear-wave refraction measurements from the same location.

Artificial intelligence↗
DOE OSTI2026

Assessment of the hydromechanical higher-order MPM for the simulation of geotechnical problems

The Material Point Method (MPM) has been increasingly used to simulate large strain deformations. Linear interpolation functions are commonly used to perform the spatial integration. It is well-known that the discontinuities in the interpolation function derivatives induce shock-like artifacts known as ‘cell-crossing’ error. These errors compound with volumetric locking errors when used with hydromechanical formulations for porous media, where different velocity fields are used for each phase. The capabilities of higher-order MPM frameworks have not been explored for real-scale geotechnical problems. As such, this paper aims to assess, validate, and further discuss a higher-order B-spline MPM (BS-MPM) framework. First, the BS-MPM framework is verified against the large-strain oedometer consolidation problem. Second, the framework is validated against a real-scale slope failure experiment triggered by pore water pressure recharge. Landslide features that are captured using the higher-order framework are specifically highlighted, and results (e.g., pore water pressure and deformation) are validated with field measurements. A generally convergent numerical solution is observed when using cubic interpolation functions. Third, a footing penetration problem is simulated using the multi-patch BS-MPM. Trends are examined with respect to penetration velocity and variation in hydraulic conductivity. The BS-MPM framework ultimately presents a stabilized numerical solution that captures plausible hydromechanical interaction trends important in geotechnical engineering applications.

36 MATERIALS SCIENCE↗
NASA NTRS2005

JSC-1: Lunar Simulant of Choice for Geotechnical Applications and Oxygen Production

Lunar simulant JSC-1 was produced as the result of a workshop held in 1991 to evaluate the status of simulated lunar material and to make recommendations on future requirements and production of such material (McKay et al., 1991). JSC-1 was prepared from a welded tuff that was mined, crushed, and sized from the Pleistocene San Francisco volcanic field, northern Arizona. As the initial production of approxiamtely 12,300kgs is nearly depleted, new production has commenced. The mineralogy and chemical properties of JSC-1 are described in McKay et al. (1994) and Hill et al. (this volume); description of its geotechnical properties appears in Klosky et al. (1996). Although other lunar-soil simulants have been produced (e.g., MLS-1: Weiblen et al., 1990; Desai et al., 1992; Chua et al., 1994), they have not been as well standardized as JSC-I; this makes it difficult to standardize results from tests performed on these simulants. Here, we provide an overview of the composition, mineralogy, strength and deformation properties, and potential uses of JSC-1 and outline why it is presently the 'lunar simulant of choice' for geotechnical applications and as a proxy for lunar-oxygen production.

Taylor, Lawrence A.↗
NASA NTRS2022

Regolith Simulant Preparation and Geotechnical Characterization for Plume Surface Interaction Testing

Descent engine plumes interact with the lunar surface and accelerate regolith particles to potentially high velocities. These ejecta create risks to surface assets that have yet to be fully assessed. To better understand these risks, plume surface interactions can be simulated on the ground by firing a test engine plume into a bin of lunar regolith simulant under vacuum conditions. The dynamics of the resultant ejecta can then be recorded. In this technical memorandum we discuss the processes used in preparing a 150 kg bin of lunar regolith simulant for plume surface interaction ground tests under vacuum conditions for the NASA STMD Plume Surface Interaction project. We present our approach to mitigating regolith simulant eruptions during pump-down, the methods used to fill and reset the regolith simulant bin for each test, and the techniques used to characterize the consistency of regolith simulant geotechnical properties before each new firing. The challenges of preparing a regolith simulant test bin below an ambient pressure of one atmosphere, particularly on the large scale, could largely be overcome with a system that could fill the test bin with simulant inside the chamber and under vacuum conditions.

lunar regolith↗
DOE OSTI2025

Enhanced MPM framework with multipatch isogeometric analysis for geotechnical applications

Achieving stable stress solutions at large strains using the Material Point Method (MPM) is challenging due to the accumulation of errors associated with geometry discretization, cell-crossing noise, and volumetric locking. Several simplified attempts exist in the literature to mitigate these errors, including higher-order frameworks. However, the stability of the MPM solution in such frameworks has been limited to simple geometries and the single-phase formulation (i.e., neglecting pore fluid). Although never explored, multipatch isogeometric analysis offers desirable qualities to simulate complex geometries while mitigating errors in the MPM. The degree of required high-order spatial integration has also never been investigated to infer a minimum limit for the stability of the stress solution in MPM. This paper presents a general-purpose numerical framework for simulating stable stresses in porous media, capturing both near incompressibility and multiphase interactions. First, the numerical framework is presented considering Non-Uniform Rational B-splines (NURBS) to perform isogeometric analysis (IGA) in MPM. Additionally, a volumetric strain smoothing algorithm is used to alleviate errors associated with volumetric locking. Second, the manifestation of cell-crossing errors is assessed via a series of problems with orders ranging from linear to cubic interpolation functions. Third, the use of NURBS is investigated and verified for problems with circular geometries. Finally, multipatch analysis is deployed to simulate plane strain and 3D penetration in soils, considering nearly incompressible elastoplastic (total stress) analysis and fully-coupled hydro-mechanical (effective stress) analysis. The stability of the solution is also analyzed for different constitutive models. From the results, it can be concluded that the framework using cubic interpolation functions with strain smoothing is the most convenient, presenting stable stress solutions for a broad range of multiphase geotechnical applications.

58 GEOSCIENCES↗
DOE OSTI2020

Hydropower Geotechnical Foundations: Executive Summary on Current Practice and Innovation Opportunities for Low-Head Applications

The following content provides a companion executive summary of Hydropower Geotechnical Foundations: Current Practice and Innovation Opportunities for Low-Head Applications (DeNeale et al. 2020), a technical report developed by Oak Ridge National Laboratory (ORNL) and Knight Piésold Consulting, with funding from the US Department of Energy (DOE) Water Power Technologies Office (WPTO). This executive summary provides a brief synopsis of the broader information contained in the technical report. This study (and the associated technical report): (1) covers background information on hydropower; (2) describes various characteristics relevant to hydropower foundations for undeveloped US streams; (3) presents the current state of practice in foundation development; (4) provides a representative assessment of conventional hydropower foundation costs and timelines; (5) addresses key challenges facing conventional hydropower foundations; and (6) presents opportunity areas and examples for innovative hydropower foundation technologies while highlighting some advances in non-hydropower industries.

13 HYDRO ENERGY↗
NASA NTRS1979

Geotechnical investigation report for proposed array of six 40-meter diameter antennas, Pioneer site, DSS 11, Goldstone, California tracking complex

The geotechnical investigation was conducted in three disciplines: (1) geological field reconnaissance of the general area of proposed construction; (2) geophysical seismic refraction survey of the localized area surrounding the six proposed antenna sites, including shear wave velocity determination; and (3) detailed foundation engineering investigation of each of the six sites. The investigations indicate that the six sites selected are relatively free from geologic hazards which would inhibit the proposed construction or future antenna operations.

Sweitzer, J. S.↗
NASA NTRS2017

Geotechnical Tests on Asteroid Simulant Orgueil

In the last 100 years, the global population has more than quadrupled to over seven billion people. At the same time, the demand for food and standard of living has been increasing which has amplified the global water use by nearly eight times from approximately 500 to 4000 cu km per yr from 1900 to 2010. With the increasing concern to sustain the growing population on Earth it is necessary to seek other approaches to ensure that our planet will have resources for generations to come. In recent years, the advancement of space travel and technology has allowed the idea of mining asteroids with resources closer to becoming a reality. During the duration of the internship at NASA Kennedy Space Center, several geotechnical tests were conducted on BP-1 lunar simulant and asteroid simulant Orgueil. The tests that were conducted on BP-1 was to practice utilizing the equipment that will be used on the asteroid simulant and the data from those tests will be omitted from report. Understanding the soil mechanics of asteroid simulant Orgueil will help provide basis for future technological advances and prepare scientists for the conditions they may encounter when mining asteroids becomes reality in the distant future. Distinct tests were conducted to determine grain size distribution, unconsolidated density, and maximum density. Once the basic properties are known, the asteroid simulant will be altered to different levels of compaction using a vibrator table to see how compaction affects the density. After different intervals of vibration compaction, a miniature vane shear test will be conducted. Laboratory vane shear testing is a reliable tool to investigate strength anisotropy in the vertical and horizontal directions of a very soft to stiff saturated fine-grained clayey soil. This test will provide us with a rapid determination of the shear strength on the undisturbed compacted regolith. The results of these tests will shed light on how much torque is necessary to drill through the surface of an asteroid. Most of the known asteroids are believed to be left over material during the formation of the solar system that never accreted to form planets. Asteroids can be found in several groups such as Trojan Asteroids, Near Earth Asteroids (NEAs) and the main asteroid belt. The Trojan Asteroids orbit the 4th and 5th Lagrange points of major planets in the Solar System while the NEA's have orbits that are close to and sometimes intersect with Earths orbit and the Main Asteroid Belt which is found between the orbit of Mars and Jupiter. Gravitational perturbations can alter the orbit of asteroids in the Main Asteroid Belt causing them to move closer to earth causing them to become in the NEA class.

resources↗
NASA NTRSDate not supplied

Geotechnical Review of Existing Mars Soil Simulants for Surface Mobility

The purpose of this paper is to provide a thorough review of the currently available Mars soil simulants and to determine those with geotechnical properties most appropriate for vehicle mobility studies. Sourcing and processing are considered since full-scale studies require bulk quantities of material on the order of tens of tons. This review identifies the top three simulants with the highest fidelity to Mars wind drift soils. These areM90, ES-2, and ES-1. In addition, recommendations to guide the development of future Mars simulants are made.

Mars↗
NASA NTRSDate not supplied

LUNAR REGOLITH:SMALL SCALE ROBOTIC SITE PREPARATION AND GEOTECHNICAL EXPERIMENTSWITH SCOOPS

NASA’s Moon-To-Mars Planetary Autonomous Construction Technology (MMPACT) project seeks to research, develop, and demonstrate lunar surface construction capabilities. Quantification of lunar regolith’s geotechnical properties allows for effective prediction of forces and displacement during excavation and construction and is critical to facilitating regolith sintering capabilities all of which benefit lunar infrastructure plans. Knowledge of shear strength, Mohr-Coulomb cohesion, angle of internal friction, bearing strength, bulk density, etc. is needed. The use of ground-based testing of various lunar simulants with relevant hardware (e.g., robotic arm tools) enables validation of technology choices, tool paths, and lunar surface construction activities. In addition, the use of Taguchi methods will minimize the number of needed experiments to explore critical input parameters.

R. P. Mueller↗
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↗