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All sourcesNASA NTRSDOE OSTI
NASA NTRS1979

Economic baselines for current underground coal mining technology

The cost of mining coal using a room pillar mining method with continuous miner and a longwall mining system was calculated. Costs were calculated for the years 1975 and 2000 time periods and are to be used as economic standards against which advanced mining concepts and systems will be compared. Some assumptions were changed and some internal model stored data was altered from the original calculations procedure chosen, to obtain a result that more closely represented what was considered to be a standard mine. Coal seam thicknesses were varied from one and one-half feet to eight feet to obtain the cost of mining coal over a wide range. Geologic conditions were selected that had a minimum impact on the mining productivity.

Mabe, W. B.↗
NASA NTRS2003

Data-Mining Toolset Developed for Determining Turbine Engine Part Life Consumption

The current practice in aerospace turbine engine maintenance is to remove components defined as life-limited parts after a fixed time, on the basis of a predetermined number of flight cycles. Under this schedule-based maintenance practice, the worst-case usage scenario is used to determine the usable life of the component. As shown, this practice often requires removing a part before its useful life is fully consumed, thus leading to higher maintenance cost. To address this issue, the NASA Glenn Research Center, in a collaborative effort with Pratt & Whitney, has developed a generic modular toolset that uses data-mining technology to parameterize life usage models for maintenance purposes. The toolset enables a "condition-based" maintenance approach, where parts are removed on the basis of the cumulative history of the severity of operation they have experienced. The toolset uses data-mining technology to tune life-consumption models on the basis of operating and maintenance histories. The flight operating conditions, represented by measured variables within the engine, are correlated with repair records for the engines, generating a relationship between the operating condition of the part and its service life. As shown, with the condition-based maintenance approach, the lifelimited part is in service until its usable life is fully consumed. This approach will lower maintenance costs while maintaining the safety of the propulsion system. The toolset is a modular program that is easily customizable by users. First, appropriate parametric damage accumulation models, which will be functions of engine variables, must be defined. The tool then optimizes the models to match the historical data by computing an effective-cycle metric that reduces the unexplained variability in component life due to each damage mode by accounting for the variability in operational severity. The damage increment due to operating conditions experienced during each flight is used to compute the effective cycles and ultimately the replacement time. Utilities to handle data problems, such as gaps in the flight data records, are included in the toolset. The tool was demonstrated using the first stage, high-pressure turbine blade of the PW4077 engine (Pratt & Whitney, East Hartford, CT). The damage modes considered were thermomechanical fatigue and oxidation/erosion. Each PW4077 engine contains 82 first-stage, high-pressure turbine blades, and data from a fleet of engines were used to tune the life-consumption models. The models took into account not only measured variables within the engine, but also unmeasured variables such as engine health parameters that are affected by degradation of the engine due to aging. The tool proved effective at predicting the average number of blades scrapped over time due to each damage mode, per engine, given the operating history of the engine. The customizable tools are available to interested parties within the aerospace community.

Litt, Jonathan S.↗
NASA NTRS1989

Automation and robotics technology for intelligent mining systems

The U.S. Bureau of Mines is approaching the problems of accidents and efficiency in the mining industry through the application of automation and robotics to mining systems. This technology can increase safety by removing workers from hazardous areas of the mines or from performing hazardous tasks. The short-term goal of the Automation and Robotics program is to develop technology that can be implemented in the form of an autonomous mining machine using current continuous mining machine equipment. In the longer term, the goal is to conduct research that will lead to new intelligent mining systems that capitalize on the capabilities of robotics. The Bureau of Mines Automation and Robotics program has been structured to produce the technology required for the short- and long-term goals. The short-term goal of application of automation and robotics to an existing mining machine, resulting in autonomous operation, is expected to be accomplished within five years. Key technology elements required for an autonomous continuous mining machine are well underway and include machine navigation systems, coal-rock interface detectors, machine condition monitoring, and intelligent computer systems. The Bureau of Mines program is described, including status of key technology elements for an autonomous continuous mining machine, the program schedule, and future work. Although the program is directed toward underground mining, much of the technology being developed may have applications for space systems or mining on the Moon or other planets.

Welsh, Jeffrey H.↗
NASA NTRS1980

A methodology for the environmental assessment of advanced coal extraction systems

Procedures developed to identify and assess potential environment impacts of advanced mining technology as it moves from a generic concept to a more systems definition are described. Two levels of assessment are defined in terms of the design stage of the technology being evaluated. The first level of analysis is appropriate to a conceptual design. At this level it is assumed that each mining process has known and potential environmental impacts that are generic to each mining activity. By using this assumption, potential environmental impacts can be identified for new mining systems. When two or more systems have been assessed, they can be evaluated comparing potential environmental impacts. At the preliminary stage of design, a systems performance can be assessed again with more precision. At this level of systems definition, potential environmental impacts can be analyzed and their significane determined in a manner to facilitate comparisons between systems. At each level of analysis, suggestions calculated to help the designer mitigate potentially harmful impacts are provided.

Sullivan, P. J.↗
NASA NTRS2002

Continuing Development of a Collaborative Plan to Further Engage South Dakota in NASA's Earth Science Enterprise

An ongoing set of research planning activities have occurred in South Dakota as a consequence of the past two years of NASA-EPSCoR Preparation Grants. During this time a group of approximately 60 scientists, engineers, and university administrators in South Dakota have been directly involved as "theme team" members in a series of five all-day meetings to identify the research and technological priorities that are consistent both with NASA-ESE's interests and the State's expertise. Institutions represented within the group's membership include: South Dakota School of Mines & Technology, South Dakota State University, Augustana College, University of South Dakota, USGS EROS Data Center, Si ranks College, Santa Gleska University, Sisseton Wahpeton Community College, USGS Water Resources Division, US National Weather Service, and the SD Department of Environment & Natural Resources. Many of these organizations are also members and affiliates of the SD Space Grant Consortium. The evolving plan has been guided by the following desirable actions: 1. To establish new contacts and strengthen existing linkages with NASA Centers, relevant NASA researchers, and key personnel at the USGS EROS Data Center. 2. To promote participation from the State's major research institutions, State agencies, and relevant businesses in South Dakota that are interested in strengthening our scientific and technological enterprises. 3. To develop the State's scientific talent and infrastructure for enhanced competitiveness in research, development, and technology-based economic development. 4. To encourage greater participation by under represented groups, especially Native Americans, in scientific education and research. 5. To build greater public and political support in South Dakota for the overall science, engineering, and technology enterprise. 6. To communicate the benefits of current and future NASA programs to the progress and development of South Dakota, the Northern Great Plains Region, and the Nation.

Farwell, Sherry O.↗
NASA NTRS1992

Mining nonterrestrial resources: Information needs and research topics

An outline of topics we need to understand better in order to apply mining technology to a nonterrestrial environment is presented. The proposed list is not intended to be complete. It aims to identify representative topics that suggest productive research. Such research will reduce the uncertainties associated with extrapolating from conventional earthbound practice to nonterrestrial applications. One objective is to propose projects that should put future discussions of nonterrestrial mining on a firmer, less speculative basis.

Daemen, Jaak J. K.↗
NASA NTRS2012

Reducing Extra-Terrestrial Excavation Forces with Percussion

High launch costs and mission requirements drive the need for low mass excavators with mobility platforms, which in turn have little traction and excavation reaction capacity in low gravity environments. This presents the need for precursor and long term future missions with low mass robotic mining technology to perform In-Situ Resource Utilization (ISRU) tasks. This paper discusses a series of experiments that investigate the effectiveness of a percussive digging device to reduce excavation loads and thereby the mass of the excavator itself. The goal of percussive excavation is to fluidize dry regolith in front of the leading edge of the tool by mechanically separating the microscopic interlocking grains resulting in a reduced force needed to shear the soil. There are several variables involved with this technique; this experiment varied: Impact energy, frequency, and excavation speed and held constant: impact direction, depth of cut, angle of tool, and soil bulk density. The test apparatus consisted of an aluminum truss bridge with a central pivoting arm. Attached to the arm was a winch with a load cell in line that recorded the tension in the cable and therefore the excavation load. The arm could be adjusted for excavation depth which was recorded along with the arm angle relative to the bridge. A percussive mechanism and 30" wide pivoting bucket were attached at the end of the arm simulating a basic backhoe with a percussion direction tangent to the direction of . movement. Internally the mechanism used a set of die springs and barrel cam to produce the percussive blow. By changing the springs and the speed of the motor the impact energy and frequency of percussion could be varied independently. Impact energies from 11.2J to 30.5J and frequencies from 0 BPM to 700 BPM were investigated. A reduction in excavation force of as much as 51% was achieved in this experimental investigation. Smaller percussive digging implements, tested by others, have achieved a reduction of as much as 72%. This paper will examine the effects of impact energy, frequency, scaling and their effect on excavation forces in a dry granular material such as lunar regolith. The past several years have shown an increasing interest in mining space resources both for exploration and commercial enterprises. This work studied the benefits and risks of percussive excavation and prelimin~ry results indicate that this technique may become an enabling technology for extra-terrestrial excavation of regolith and ice.

Schuler, Jason↗
NASA NTRS1978

A synoptic description of coal basins via image processing

An existing image processing system is adapted to describe the geologic attributes of a regional coal basin. This scheme handles a map as if it were a matrix, in contrast to more conventional approaches which represent map information in terms of linked polygons. The utility of the image processing approach is demonstrated by a multiattribute analysis of the Herrin No. 6 coal seam in Illinois. Findings include the location of a resource and estimation of tonnage corresponding to constraints on seam thickness, overburden, and Btu value, which are illustrative of the need for new mining technology.

Farrell, K. W., Jr.↗
NASA NTRS1981

A moving baseline for evaluation of advanced coal extraction systems

Results from the initial effort to establish baseline economic performance comparators for a program whose intent is to define, develop, and demonstrate advanced systems suitable for coal resource extraction beyond the year 2000 are reported. Systems used were selected from contemporary coal mining technology and from conservation conjectures of year 2000 technology. The analysis was also based on a seam thickness of 6 ft. Therefore, the results are specific to the study systems and the selected seam extended to other seam thicknesses.

Bickerton, C. R.↗
NASA NTRS2012

Reducing Extra-Terrestrial Excavation Forces with Percussion

High launch costs and mission requirements drive the need for low mass excavators with mobility platforms, which in turn have little traction and excavation reaction capacity in low gravity environments. This presents the need for precursor and long term future missions with low mass robotic mining technology to perform In-Situ Resource Utilization (ISRU) tasks. This paper discusses a series of experiments that investigate the effectiveness of a percussive digging device to reduce excavation loads and thereby the mass of the excavator itself. A percussive mechanism and 30" wide pivoting bucket were attached at the end of the arm simulating a basic backhoe with a percussion direction tangent to the direction of movement. Impact energies from 13.6J to 30.5J and frequencies from 0 BPM to 700 BPM were investigated. A reduction in excavation force of as much as 50% was achieved in this experimental investigation.

Mueller, Robert↗
NASA NTRS2012

Aircraft Anomaly Detection Using Performance Models Trained on Fleet Data

This paper describes an application of data mining technology called Distributed Fleet Monitoring (DFM) to Flight Operational Quality Assurance (FOQA) data collected from a fleet of commercial aircraft. DFM transforms the data into aircraft performance models, flight-to-flight trends, and individual flight anomalies by fitting a multi-level regression model to the data. The model represents aircraft flight performance and takes into account fixed effects: flight-to-flight and vehicle-to-vehicle variability. The regression parameters include aerodynamic coefficients and other aircraft performance parameters that are usually identified by aircraft manufacturers in flight tests. Using DFM, the multi-terabyte FOQA data set with half-million flights was processed in a few hours. The anomalies found include wrong values of competed variables, (e.g., aircraft weight), sensor failures and baises, failures, biases, and trends in flight actuators. These anomalies were missed by the existing airline monitoring of FOQA data exceedances.

Gorinevsky, Dimitry↗
NASA NTRS1994

Dual-use technologies for the mining, processing, and energy industries

Over the years, NASA has utilized several approaches towards transferring space technologies into the private sectors. Some of these approaches have been successful, others have had mixed results. The conventional approach usually involves identifying advanced NASA technologies and then searching for applications. Some approaches involve joint sponsorship, but mostly focus on technologies for space. The greatest success has occurred when market forces are used to determine technology initiatives. This paper describes an unconventional approach that was structured to drive out customer requirements for advanced technologies where NASA is also a customer on par with others. The approach used herein is best described as entrepreneurial deal-making. This approach is new and is working very well so far, but it is still too early, and the process is too immature, for quantitative evaluation of success. However, it is appropriate to share these experiences at this time in order to obtain feedback and improve our chances for success. In the needs identification stage, NASA is one of many users (customers), and in the subsequent development stage, NASA is one of many suppliers along with industry, academia, and other government organizations. This specific characteristic of the approach was a primary goal that was incorporated from inception. It was the viewpoint of the instigators (the authors) that if the activity was customer focused, it would: (1) have a higher probability for success since it will be driven by those who will reap the benefits; (2) be able to advocate and promote action if necessary, since it would be founded outside the federal government; (3) not be self-perpetuating; that is, if no common need could be found that had a reasonable return on investment, it would self-destruct; and (4) have increased stability from a broader base of support and not be dependent on NASA being the principal funding source. To date, the workshop activities have identified a collection of potential customers in NASA, other federal government, private industry, and academia who have common needs for advanced technologies.

Roberts, Barney B.↗
NASA NTRS1992

Transfer of terrestrial technology for lunar mining

The functions, operational procedures, and major items of equipment that comprise the terrestrial mining process are characterized. These data are used to synthesize a similar activity on the lunar surface. Functions, operations, and types of equipment that can be suitably transferred to lunar operation are identified. Shortfalls, enhancements, and technology development needs are described. The lunar mining process and what is required to adapt terrestrial equipment are highlighted. It is concluded that translation of terrestrial mining equipment and operational processes to perform similar functions on the lunar surface is practical. Adequate attention must be given to the harsh environment and logistical constraints of the lunar setting. By using earth-based equipment as a forcing function, near- and long-term benefits are derived (i.e., improved terrestrial mining in the near term vis-a-vis commercial production of helium-3 in the long term.

Hall, Robert A.↗
NASA NTRSDate not supplied

NASA Lunabotics Robotic Mining Competition 10th Anniversary (2010-2019): Taxonomy and Technology Review

Space Mining for resources such as water ice, and regolith, which contain many elements in the form of metals, minerals, volatiles and other compounds, is a necessary step for In-Situ Space Resource Utilization (ISRU). One of the primary goals is to extract propellants from the regolith and water ice, such as oxygen and hydrogen which could then be used for in-space transportation. In addition, the space mining system can be used for various construction tasks that can benefit human and robotic exploration as well as scientific investigations based on excavated exposed topography, such as the side walls of trenches. The National Aeronautics & Space Administration (NASA) "Lunabotics" Robotic Mining Competition (RMC) is a university-level competition designed to engage and retain students in science, technology, engineering and mathematics (STEM). NASA has directly benefited from the competition by encouraging the development of innovative lunar excavation concepts from universities which has resulted in clever ideas and solutions which could be applied to an actual lunar excavation device or payload. The challenge is for students to design and build a remote controlled or autonomous excavator, called a "lunabot", which can collect and deposit a minimum of 10 kilograms of lunar simulant within 15 minutes. In recent years the goal has been changed to excavate a minimum of 1 kg of simulated icy regolith which is found under an overburden of regolith simulant. The complexities of the challenge include the abrasive characteristics of the lunar regolith simulant, the weight and size limitations of the lunabot, and the ability to control the lunabot from a remote-control center or operate it autonomously. This paper will present the results of the ten Lunabotics Robotic Mining Competitions held between May 2010 and May 2019. Each year over 50 university teams have attended, resulting in over 500 lunabot designs and subsequent prototypes. Over 6,000 university students have been part of the on-site competition at KSC. Even more students and the public were engaged via internet broadcasting and social networking media. The various designs have been cataloged and categorized here to provide information to future Lunabotics RMC mining robot designers and competitors. Categories will focus on both the mechanical design as well as the autonomy architecture/design. It is also expected to be of value for actual future space missions, as knowledge is gained from testing many innovative prototypes in simulated lunar regolith. A taxonomy of robotic excavator designs has been presented. In addition, the paper will discuss changes in learning paradigms occurring in the current generation of students, and how this competition leverages those changes to challenge students to develop skills in graduate level concepts and apply them. Examples of how this translates to hiring opportunities for commercial sponsors has also been discussed.

Robert P Mueller↗
NASA NTRSDate not supplied

NASA LUNABOTICS ROBOTIC MINING COMPETITION 10TH ANNIVERSARY (2010 – 2019): TAXONOMY AND TECHNOLOGY REVIEW

Space Mining for resources such as water ice, and regolith, which contain many elements in the form of metals, minerals, volatiles and other compounds, is a necessary step for In-Situ Space Resource Utilization (ISRU). One of the primary goals is to extract propellants from the regolith and water ice, such as oxygen and hydrogen which could then be used for in-space transportation. In addition, the space mining system can be used for various construction tasks that can benefit human and robotic exploration as well as scientific investigations based on excavated exposed topography, such as the side walls of trenches. The National Aeronautics & Space Ad-ministration (NASA) Lunabotics Robotic Mining Competition (RMC) is a university-level competition designed to engage and retain students in science, technology, engineering and mathematics (STEM). NASA has directly benefited from the competition by encouraging the development of innovative lunar excavation concepts from universities which has resulted in clever ideas and solutions which could be applied to an actual lunar excavation device or payload. The challenge is for students to design and build a remote controlled or autonomous excavator, called a lunabot, that can collect and deposit a minimum of 10 kilograms of lunar simulant within 15 minutes. In recent years the goal has been changed to excavate a minimum of 1 kg of simulated icy regolith which is found under an over-burden of regolith simulant. The complexities of the challenge include the abrasive characteristics of the lunar simulant, the weight and size limitations of the lunabot, and the ability to control the lunabot from a remote control center. This paper will present the results of the 10 Lunabotics Robotic Mining Competitions held between May 2010 and May 2019. Each year over 50 university teams have attended, resulting in over 500 lunabot designs and subsequent prototypes. Over 5,000 university students have been part of the competition on-site at KSC. More students and the public were en-gaged via internet broadcasting and social net-working media. The various designs will be cataloged and categorized to provide information to future Lunabotics mining robot designers and competitors. It is also expected to be of value for actual future space missions, as knowledge is gained from testing many innovative prototypes in simulated lunar regoith. A taxonomy of robotic excavator designs will be presented.

Competition↗
NASA NTRS2015

Swamp Works: A New Approach to Develop Space Mining and Resource Extraction Technologies at the National Aeronautics Space Administration (NASA) Kennedy Space Center (KSC)

The first steps for In Situ Resource Utilization (ISRU) on target bodies such as the Moon, Mars and Near Earth Asteroids (NEA), and even comets, involve the same sequence of steps as in the terrestrial mining of resources. First exploration including prospecting must occur, and then the resource must be acquired through excavation methods if it is of value. Subsequently a load, haul and dump sequence of events occurs, followed by processing of the resource in an ISRU plant, to produce useful commodities. While these technologies and related supporting operations are mature in terrestrial applications, they will be different in space since the environment and indigenous materials are different than on Earth. In addition, the equipment must be highly automated, since for the majority of the production cycle time, there will be no humans present to assist or intervene. This space mining equipment must withstand a harsh environment which includes vacuum, radical temperature swing cycles, highly abrasive lofted dust, electrostatic effects, van der Waals forces effects, galactic cosmic radiation, solar particle events, high thermal gradients when spanning sunlight terminators, steep slopes into craters / lava tubes and cryogenic temperatures as low as 40 K in permanently shadowed regions. In addition the equipment must be tele-operated from Earth or a local base where the crew is sheltered. If the tele-operation occurs from Earth then significant communications latency effects mandate the use of autonomous control systems in the mining equipment. While this is an extremely challenging engineering design scenario, it is also an opportunity, since the technologies developed in this endeavor could be used in the next generations of terrestrial mining equipment, in order to mine deeper, safer, more economical and with a higher degree of flexibility. New space technologies could precipitate new mining solutions here on Earth. The NASA KSC Swamp Works is an innovation environment and methodology, with associated laboratories that uses lean development methods and creativity-enhancing processes to invent and develop new solutions for space exploration. This paper will discuss the Swamp Works approach to developing space mining and resource extraction systems and the vision of space development it serves. The ultimate goal of the Swamp Works is to expand human civilization into the solar system via the use of local resources utilization. By mining and using the local resources in situ, it is conceivable that one day the logistics supply train from Earth can be eliminated and Earth independence of a space-based community will be enabled.

Resource Extraction↗
NASA NTRS1982

Automation of the longwall mining system

Cost effective, safe, and technologically sound applications of automation technology to underground coal mining were identified. The longwall analysis commenced with a general search for government and industry experience of mining automation technology. A brief industry survey was conducted to identify longwall operational, safety, and design problems. The prime automation candidates resulting from the industry experience and survey were: (1) the shearer operation, (2) shield and conveyor pan line advance, (3) a management information system to allow improved mine logistics support, and (4) component fault isolation and diagnostics to reduce untimely maintenance delays. A system network analysis indicated that a 40% improvement in productivity was feasible if system delays associated with all of the above four areas were removed. A technology assessment and conceptual system design of each of the four automation candidate areas showed that state of the art digital computer, servomechanism, and actuator technologies could be applied to automate the longwall system.

Zimmerman, W.↗