Workshop on Enabling Exploration: The Lunar Outpost and Beyond (LEAG 2007)
http://www.lpi.usra.edu/meetings/leag2007/ [6/30/2008 4:38:00 PM] 2007 LEAG Workshop on Enabling Exploration preface.pdf
LEAG 2007
Workshop on Enabling Exploration: The Lunar Outpost and Beyond
October 1–5, 2007
Houston, Texas
Sponsors
Lunar and Planetary Institute National Aeronautics and Space Administration Lunar Exploration Analysis Group
Conveners
Clive Neal, University of Notre Dame Stephen Mackwell, Lunar and Planetary Institute
Organizing Committee
Clive Neal, University of Notre Dame Charles Shearer, University of New Mexico Jeff Taylor, University of Hawai‘i Michael Wargo, NASA Headquarters Kelly Snook, NASA Headquarters Michelle Gates, NASA Headquarters Stephen Mackwell, Lunar and Planetary Institute Jerry Sanders, NASA Johnson Space Center Paul Eckert, Boeing Company
Compiled by Lunar and Planetary Institute, 3600 Bay Area Boulevard, Houston TX 77058-1113. Logistics, administrative, and publications support for the workshop were provided by the Publications and Program Services Department of the LPI. Computer support was provided by the LPI’s Computing Center for Planetary Data Analysis. The Lunar and Planetary Institute is operated by the Universities Space Research Association under Cooperative Agreement No. NCC5-679 with the National Aeronautics and Space Administration. Material in this publication may be copied without restraint for library, abstract service, educational, or personal research purposes; however, republication of any abstract or portion thereof requires the written permission of the authors as well as appropriate acknowledgment of this publication.
LPI Contribution No. 1371 LEAG Workshop on Enabling Exploration, Table of Contents
Workshop on Enabling Exploration: The Lunar Outpost and Beyond October 1–5, 2007 Houston, Texas CONTENTS
Preface and Credits
EXECUTIVE SUMMARY: Feed Forward to Mars: Implications for Lunar Outpost Site Selection and the Nature of the Activity to be Carried Out There D. W. Beaty 3075
EXECUTIVE SUMMARY: Is a LEO Propellant Depot Commercially Viable? D. G. Bienhoff 3040
Lunar Surface Field Exploration Infrastructure Systems Requirements Development — Results of a Decade of Analog Lunar Surface Exploration S. P. Braham and M. P. Pires 3043
Biotechnologies at Lunar Outpost and Beyond I. I. Brown, J. A. Jones, D. Garrison, D. Bayless, S. A. Sarkisova, G. B. Sanders, and D. S. McKay 3013
Establishment of a Wireless Mesh Network and Positional Awareness System in a Mars Analogue Environment T. W. Clardy, K. E. Fristad, J. C Rask, and C. P. McKay 3015
EXECUTIVE SUMMARY: ISRU Development Roadmap — AIAA Perspective D. L. Clark 3068
Optimizing Instrument Packages for the Lunar Surface P. E. Clark, R. Lewis, and L. Leshin 3033
An Overview of the Lunar Crater Observation and Sensing Satellite (LCROSS) Mission — An ESMD Mission to Investigate Lunar Polar Hydrogen A. Colaprete, G. Briggs, K. Ennico, D. Wooden, J. L. Heldmann, L. Sollitt, E. Asphaug, P. Schultz, A. Christensen, and
K. Galal 3017
Planetary Protection and Implications for Lunar Mission Planning: Science, Technology, and Feed-Forward to Mars C. A. Conley and M. Race 3027
Possible Mafic Patches at Mons Malapert and Scott Crater Highlight the Value of Site Selection Studies
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B. L. Cooper 3039
ISRU Will Make the Difference Between Going Back to the Moon to Visit and Going Back to the Moon to Stay B. L. Cooper and D. G. Schrunk 3036
EXECUTIVE SUMMARY: ESMD Commercial Development Strategy Overview K. Davidian 3050
EXECUTIVE SUMMARY: Automated Subsurface Sample Acquisition Technologies for Lunar Exploration K. Davis 3074
Robotic Components and Subsystems Enabling Lunar Exploration: Status Update K. Davis, G. L. Paulsen, and K. Zacny 3048
EXECUTIVE SUMMARY: The Things We Most Need to Learn at the Moon to Support the Subsequent Human Exploration of Mars B. G. Drake, D. Beaty, G. Tahu, S. Hoffman, and A. Tripathi 3012
The Role of Robotic Missions in a Lunar Outpost Strategy M. B. Duke 3042
EXECUTIVE SUMMARY: Lunar Commercial Communications Enabled by the International Lunar Observatory/ILO Association S. Durst 3077
Lunar Commercial Communications Enabled by the International Lunar Observatory / ILO Association S. M. Durst, W. W. Mendell, and M. Gonella 3038
EXECUTIVE SUMMARY: ISRU and Potential Mass and Cost Impacts on Sustained Lunar Exploration B. Easter 3067
EXECUTIVE SUMMARY: Incremental Steps from Earth to Lunar Commerce: How to Do It, and How to Pay for It, One Step at a Time P. Eckert 3078
Enabling Exploration: Robotic Site Surveys and Prospecting for Hydrogen R. C. Elphic, L. Kobayashi, M. Allen, M. Bualat, M. Deans, T. Fong, S. Lee, V. To, and H. Utz 3046
LCROSS Science Payload Ground Development, Test, and Calibration Results K. Ennico, A. Colaprete, D. Wooden, J. L. Heldmann, D. Lynch, G. Kojima, and M. Shirley 3020
EXECUTIVE SUMMARY: Management of Future Lunar Samples: Back to Basics 3061
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D. Eppler
EXECUTIVE SUMMARY: Interviews with Apollo Lunar Surface Astronauts in Support of Lunar Surface Exploration Systems Design D. Eppler 3060
EXECUTIVE SUMMARY: Meteorite Collection on the Lunar Surface L. Erikson, D. Baker, W. L. Rance, E. Spahr, A. Abbud-Madrid, and M. B. Heeley 3052
Returm to the Moon: Ethical, Cultural and Social Aspects — Initial Approaches to These Complex Themes with a Geological Perspective V. A. Fernandes, B. A. Cohen, J. Fritz, and E. K. Jessberger 3035
EXECUTIVE SUMMARY: Site Selection and Lunar Outpost: SMART-1 Results and ESA Studies B. Foing 3062
Analog Lunar Robotic Site Survey at Haughton Crater T. Fong, M. Deans, M. Bualat, L. Flueckiger, M. Allan, H. Utz, S. Lee, V. To, and P. Lee 3058
Technology and Techniques for Paleomagnetic Studies at the Lunar Poles I. Garrick-Bethell and B. P. Weiss 3029
Rocket Dispersed Instruments: A Mission Architecture for Exploring Lunar Polar Hydrogen I. Garrick-Bethell, J. J. West, d. J. Lawrence, and R. C. Elphic 3025
EXECUTIVE SUMMARY: Lunar Site Selection Process Definition in LAT-2 R. Gershman 3071
Priorities for Demonstrating Lunar ISRU Capabilities L. S. Gertsch 3041
EXECUTIVE SUMMARY: Lunar Outpost Site Selection: A Review of the Past 20 Years J. E. Gruener 3057
EXECUTIVE SUMMARY: Toward a 1GWe of Solar Energy on and from the Moon by 2020 K. P. Heiss 3063
Lunar Crater Observation and Sensing Satellite (LCROSS) Mission: Opportunities for Observations of the Impact Plumes from Ground-based and Space-based Telescopes J. L. Heldmann, T. Colaprete, D. Wooden, E. Asphaug, P. Schultz, C. S. Plesko, L. Ong, D. Korycansky, K. Galal, and
G. Briggs 3016
Interim Results from the MEPAG Human Exploration of Mars Science Analysis Group (HEM-SAG)
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J. L. Heldmann, J. Levine, J. Garvin, D. Beaty, M. S. Bell, T. Clancy, C. S. Cockell, G. Delory, J. Dickson, R. Elphic, D. Eppler, D. Fernandez-Remolar, J. Gruener, J. W. Head, M. Helper, V. Hipkin, M. Lane, J. Levy, R. Millikan, J. Moersch, G. Ori, L. Peach, F. Poulet, J. Rice, K. Snook, S. Squyres, and J. Zimbelman 3018
Lunar Exploration Orbiter (LEO): Providing a Globally Covered, Highly Resolved, Integrated Geological, Geochemical and Gephysical Data Base of the Moon R. Jaumann, T. Spohn, H. Hiesinger, E. K. Jessberger, G. Neukum, J. Oberst, J. Helbert, U. Christensen, H. U. Keller, U. Mall, H. Boehnhardt, P. Hartogh, K.-H. Glassmeier, H.-U. Auster, A. Moraira, M. Werner, M. Paetzold, H. Palme, R. Wimmer-Schweingruber, M. Mandea, F. Flechtner, V. Lesur, B. Haeusler, R. Srama, S. Kempf, A. Hoerdt, K. Eichentopf, E. Hauber, H. Hoffmann, U. Koehler, E. Kuehrt, H. Michaelis, M. Pauer, F. Sohl, T. Denk, and S. van Gasselt 3010
EXECUTIVE SUMMARY: Science Criteria for Lunar Outpost Site Selection and an Example B. Jolliff 3076
EXECUTIVE SUMMARY: Recommendations from the Workshop on Science Associated with the Lunar Exploration Architecture, Tempe, Arizona, 2/27–3/2, 2007 B. L. Jolliff 3056
Testing the Terminal Cataclysm Hypothesis with Samples from the South Pole-Aitken Basin B. L. Jolliff, D. A. Papanastassiou, and B. A. Cohen 3045
Aristarchus Plateau as an Outpost Location B. L. Jolliff and J. Zhang 3049
EXECUTIVE SUMMARY: Proposal for a Lunar Exploration Science Campaign: A Commercial-leveraged, Science- focused, Frequent Lunar Mission Program R. M. Kelso and G. Schmidt 3073
Reducing the Risk, Requirements, and Cost of the Human Exploration Phase of the Constellation Program with Robotic Landers and Rovers D. A. Kring 3037
EXECUTIVE SUMMARY: Outpost Site Selection for In-Situ Resource Utilization W. E. Larson 3072
EXECUTIVE SUMMARY: Lunar Robotic Precursor Program Status T. Lavoie, J. Bassler, and D. Jacobson 3030
EXECUTIVE SUMMARY: Astronaut Training, What We Did, Why It Worked, and What Can Be Done Better G. Lofgren 3070
EXECUTIVE SUMMARY: The Lunar Collection: Status and the Future G. E. Lofgren 3002
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EXECUTIVE SUMMARY: SELENE Status and ISRU Activity in Japan K. Matsui 3066
Spaceward Bound: Field Training for the Next Generation of Space Explorers C. P. McKay, L. K. Coe, M. Battler, D. Bazar, L. Conrad, B. Day, L. Fletcher, R. Green, J. Heldmann, T. Muscatello,
J. C. Rask, H. Smith, H. Sun, and R. Zubrin 3028
Commercial Development of the Moon: The Great Lunar Depository D. S. McKay 3031
Exploration of Carbon-bearing Materials on the Moon Y. Miura 3047
EXECUTIVE SUMMARY: CSA Concepts and Plans for Sustained Lunar Exploration and Surface Operations J.-C. Piedboeuf 3065
EXECUTIVE SUMMARY: Making the Moon Accessible to Everyone M. Pimenta 3026
Hydrogen: A Strategy for Assessing the Key Element for the Lunar Outpost J. Plescia, P. Spudis, B. Bussey, R. Elphic, S. Nozette, and A. Phipps 3034
EXECUTIVE SUMMARY: Site Selection for the Lunar Outpost J. B. Plescia 3054
The Spaceward Bound Field Training Curriculum for Moon and Mars Analog Environments J. C. Rask, J. Heldmann, H. Smith, M. Battler, K. Fristad, M. Allner, T. Clardy, O. Clark, C. Taylor, R. Citron, B. Corbin, G. Negron, J. Skok, L. Taylor, F. Centinello, A. Duncan, A. Fan, S. Pavon, W. Sutton, V. Drakonakis, C. Gilbert, S. Graves, G. Guzik, R. Sahani, and C. P. McKay 3008
EXECUTIVE SUMMARY: The New Race to the Moon — Building Bridges for Lunar Commerce R. D. Richards 3079
EXECUTIVE SUMMARY: NASA ISRU Incorporation and Development Plans G. Sanders 3064
EXECUTIVE SUMMARY: Lunar Sample Return: Reprise H. H. Schmitt 3053
Toward a Standard Moon T. Schneck 3001
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EXECUTIVE SUMMARY: The Pacific International Space Center for Exploration Systems (PISCES) as an Example of the Role that the States Can Play in Space Exploration F. Schowengerdt 3006
EXECUTIVE SUMMARY: Exploring the Moon with Samples. Scientific and Exploration Importance of Sample Return and Buying Down Risk and Cost of Sample Return Missions C. K. Shearer 3005
EXECUTIVE SUMMARY: Scientific Contributions of Lunar Robotic Precursor Missions P. D. Spudis 3011
EXECUTIVE SUMMARY: Arctic Mars Analogue Svalbard Expedition: Testing Robotic and Human Space Flight Instrumentation in the Arctic A. Steele 3080
Scientific and Resource Characterization of Lunar Regolith Using Dielectric Spectroscopy D. E. Stillman and R. E. Grimm 3014
EXECUTIVE SUMMARY: Future of Lunar Sample Return: Robotics, Humans, and Robotic-Human Partnerships G. J. Taylor and P. D. Spudis 3007
EXECUTIVE SUMMARY: Commercial Transportation and Lunar Surface Mining T. C. Taylor, W. P. Kistler, and R. B. Citron 3003
EXECUTIVE SUMMARY: Robotic Technologies for Lunar Exploration F. Teti 3081
The Idea of a Student Built Lunar Orbiter S. Tietz 3024
Planetary Raman Spectroscopy for Surface Exploration and In Situ Resource Utilization on the Moon A. Wang, Z. C. Ling, and B. L. Jolliff 3055
Flash LIDAR Systems for Hazard Detection, Surface Navigation and Autonomous Rendezvous and Docking J. D. Weinberg, R. Craig, P. Earhart, I. Gravseth, and K. L. Miller 3023
EXECUTIVE SUMMARY: Collaborative Human-Robot Science Exploration on the Lunar Surface C. R. Weisbin, A. Elfes, J. H. Smith, H. Hua, J. Mrozinski, and K. Shelton 3004
EXECUTIVE SUMMARY: Mobile Lunar Landers and Their Implications for Science B. H. Wilcox 3059
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EXECUTIVE SUMMARY: International-Commercial Involvement in Lunar Robotic Mission R. Wilks 3069
Exploration Architecture Validation Through Analog Missions — A Canadian Perspective M-C. Williamson, V. Hipkin, M. Lebeuf, and A. Berinstain 3044
EXECUTIVE SUMMARY: Small Spacecraft in Support of the Lunar Exploration Program S. P. Worden and A. R. Weston 3019
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Toward a Standard Moon T. Schneck Civil Engineer ( 11/13 rue Lobineau 75006 Paris [email protected])
Global Warming Biosphere:: A quarter of the Ice-Sheet growth is caused by Global Warming in Greenland.The most substantial thinning is observed over outlet glacier.The Icelandic low shifted southwestward in Cape Farewell in 1996 .The changes observed are associated with a record positive-to-negative NAO index reversal.The open oceans are tipically micro-tidal in the North Atlantic Hemisphere, with a deflection of water to the right .A number of radiosondes and satellites data sets suggest that the tropical troposphere has warmed less than the surface or even cooled, which would correspond to an increase in lapse rate.The snowmelt regional decadal change has advanced 5 days/decade North of 45° N and 9.1 days/decade for the entire Alaskan slope comparable to the global atmospheric heating associated with twice the present value atmospheric CO2.
North Atlantic Decadal variability: The climate system is strongly influenced by internal variability mode, the gyre index is associated with the leading Sea Surface high mode related to a hurricanes growth over the last decadess.The effect of "a leap second " acceleration introduced since 1900, 32 seconds since 1958 ,in atomic clocks according to the corilis acceleration due to the rotation of the Earth may be significant at high latitudes causing the greater deflection of water and the last decadal increase of the hurricanes observed in the Northern Hemisphere.The Potential Storm from 1980 to 2007 simulation of the recent multi-decadal increase of Atlantic hurricanes activity using a-18 km grid regional model (NOAA) is identify after 6 hours with a relative vorticity at 850 hPa exceeding 1.6.
Moon is currently retreating 3.82 cm/year: Some centimeters per year,3.82 cm/year, but the days lenght have slighly changed over the Cambrian, is the rate at which the Moon is currently retreating slowing the earth rotation..The synchronous rotation of the Moon around the earth is caused by the unsymetrical distribution of mass in the Moon. During the year 1996, the GPS time minus UTC time was 12 seconds. The current Earth rotation measurements techniques are not sensitive enough to detect rotational changes caused by Earthquakes as large as magnitude 8, present GPS femtosecond accuracy ie:1s/32000 years.
Earthquakes magnitude 9 rotational Changes shifted by 2.5 cm the North Pole: The preliminary studies for the 2004 3.267°N, 95.821°E magnitude 9, Northern Sumatra Earthquake show a bilateral rupture on the India and Burma plates with a complex source time function of 210 sec duration and a total scalar seismic moment of 7.25x10 21 Nm. It affected Earth's rotation, decreased the lenght of the day by 2.68 microseconds, slightly changed the shape of the planet bulging the equator and shifted the north pole by 2.5 centimeters in the direction of 145 degrees East longitude.
Earth Inner Core is rotating faster than the Mantle: The magnetic crustal thickness has increased to the east and northeast, in the direction of the subduction zone,the Earth inner core is rotating faster than the mantle and crust at about 0.3° to 0.5° per year increasing or decreasing the earth magnetic field when each leap second is added and increasing the continental drift. Since the Oligocene, the Caribbean Plate drifts eastward 1.3 cmr/year relative to South America.
Earth spin rate irregularities 60 milliseconds over the year 1967: The ephemeris seconds introduced before 1967, for the irregularities in the spin rate of the earth of about 60 milliseconds over the year, required one-year averages.The light we are presently observing from large quasars over 9 billion light years away to cross such a distance to reach us that it actually left the group before the earth was formed.The Degree Angular Scale Interferometer (DASI) based near the South Pole has produced detailed maps of CMBR variation and polarization: the shape of spacetime is flat..In 1887, the Michelson Morley Interferometer has measured the speed of light in meter per second as the earth passage through postulate aether.
Toward a Standard Moon.The Climate responses to reduced irradiance during Maunder Minimum, low number of sunspots at little ice age from 1645 to 1715 ( Jupiter GRS), are a shift toward the low index Arctic Oscillation/North Atlantic Oscillation state and a upper stratospheric ozone increaseThe Moon which is rotating with the Earth would evolved at a standard distance, the present one, with even a quarter of the uncertainty introduce in the Time set to Universal Time and Earth Time.The mystery remaining from Apollo samples has been the origin of magnetization in lunar rocks.Available data suggest that the lunar magnetization was delayed until 3.9 Ga, a Mars dichotomy boundary timescale at the end of the Noachian,600 Ma years after planetary accretion and iron core formation Mars Global Surveyor's magnetometer has identified ancient plate tectonics in Mars southern hemisphere .The strong orbital variation 40% in solar flux incident on Mars leads to distinct aphelion paleoclimate and perihelion climate.,IRTF has mapped a significant increase in the CO mixing ratio to Mars South Winter Pole.The ionization rate in Titan’s atmosphere was observed by Voyager spacecraft.IRAS Subsequent analysis have revealed a CO to H2 mass conversion calibration in Titan atmosphere and a photon induced responsivity enhancement over Saturn crossing the Galactic Plane as a function of the ecliptic longitude.The atmosphere models on Mars (Tharsis formation 1,5 bar pressirized atmosphere) and Venus support CO2 as the active fluid.Venus'atmosphere like 1 km depth Ocean pressure is about 95 percent carbon dioxide, the coupled effect of chemical reactions and albedo stabilizes the surface temperature against variations of solar luminosity and atmospheric abundance.
2007 LEAG Workshop on Enabling Exploration 3002.pdf
Executive Summary
Date Prepared: 8-10-07 Presenter’s Name: Gary Lofgren Presenter’s Title: Lunar Curator Presenter’s Organization/Company: NASA-JSC
Presentation Title
The Lunar Collection: Status and the Future
Key Ideas
I will present the current state of the Lunar Collection. How much of the samples has been used for analysis and what remains for future study. The Lunar Sample Laboratory is approaching 30 years old. We have been renewing and replacing aspects of the facility to keep the it functioning at the highest level; these efforts will be summarized. I will also review the standards for curation and discuss how they have provided for the preservation of the samples. There will be a brief discussion of the kinds of samples collected and the lessons learned from their collection. These lessons will be applied to the collection of samples in the future.
2007 LEAG Workshop on Enabling Exploration 3003.pdf
Executive Summary
Date Prepared: 13 Aug 07
Presenter’s Name: Thomas C. Taylor Presenter’s Title: Vice President Presenter’s Organization/Company: Lunar Transportation Systems, Inc.
Presentation Title
Commercial Transportation and Lunar Surface Mining
Key Ideas
Commercial Transportation of Non-Essential Cargo Logistics Development of Company Town and Lunar Resource Recovery How can risk/cost be reduced through cooperation and partnerships in technological developments and demonstrations?
Supporting Information
Lunar Transportation Systems, Inc. offers a commercial logistics perspective to lunar mining, base operations, camp consumables and the future commercial sales of propellant from lunar mining operations. Our goal is a logistics architecture proposed with sustainable growth over 50 years, financed by private sector partners and capable of cargo transportation in both directions in support of lunar resource recovery. The author’s perspective includes 5 years in remote sites and lessons learned in logistics. Lunar logistics may be the most complicated logistics challenge yet to be attempted. The price paid, if a single system does not work well is significant. In Alaska, we had four different logistics transportation systems and none work successfully all the time. The private sector has, in the past, invested large sums of risk money, $20 billion for example, in resource recovery ventures, when the incentive to do so was sufficient to provide a return on the risk investment. Stimulating an even larger private investment is needed for the moon’s resource development. The development of the moon can build on mankind’s successes in remote logistics bases on Earth and learn from Alaskan oil experience. The proposed commercial lunar transportation architecture uses new innovations for modularity and flexibility leading to reduced development and logistics costs, faster development schedule, and better evolvability. This new trade lunar route for mankind utilizes existing Expendable Launch Vehicles (ELVs) available and a commercially financed small fleet of new trans lunar and lunar Lander vehicles. This commercial transportation offers ways for small payloads early & larger payloads later. Commercially, this new lunar logistics route permits capability and technology growth as the market grows, offers affordable transportation for the commercial sector and the later recovery of lunar resources. After NASA moves on to other destinations in our solar system, commercial markets and this “in place” commercial logistics system can service, stimulate and sustain a lunar commercial market environment.
2007 LEAG Workshop on Enabling Exploration 3004.pdf
Executive Summary
Date Prepared: August 13, 2007 Presenters’ Name: Charles Weisbin Presenters’ Title: Deputy Program Manager Presenters’ Organization: Jet Propulsion Laboratory
Presentation Title
Collaborative Human-Robot Science Exploration on the Lunar Surface
Charles Weisbin, Alberto Elfes, Jeff H. Smith, Hook Hua, Joe Mrozinski, Kacie Shelton
Key Ideas
The problem addressed is the allocation of tasks among humans and robots to most productively achieve mission goals. With support from NASA's Directorate Integration Office of the Exploration Systems Mission Directorate, and in coordination with the Surface Operations/ EVA Focus Element of the Lunar Architecture Team, we have developed the methodology, implemented and validated the software and conducted analyses of trades between conducting activities EVA, IVA and robotically teleoperated from earth.
The activities studied were science based (i.e. sample acquisition, geological context survey, coring, raking etc.) and productivity measured in terms of task time completion. (we're currently looking at other measures such as cost, quality etc.). A scenario in which astronauts identify interesting geological sites, and lay beacons for subsequent sample coring by earth based teleoperated robots avoids the necessity of astronauts performing time-consuming drilling operations allowing them to use their time more productively.
Supporting Information
Approach:
1.Identify • agents : astronauts on the moon, robots operating autonomously or controlled from earth, • activities (move, carry, deploy, etc.), • resources (tools, vehicles, power, etc.) 2.Identify constraints (ex: EVA is done in pairs for M hours/day; robots need recharging after N hours, etc.) 2007 LEAG Workshop on Enabling Exploration 3004.pdf
3.Define figure of merit to be optimized (ex: maximize science productivity) 4.Define starting configuration state S (e.g. astronauts unsuited in habitat, with pressurized and unpressurized vehicle, etc.. 5. Define goal configuration state G (e.g. 6 science activities at each of two sites completed; agents and resources at their starting configuration) 6. Search for optimal allocation sequence of tasks to available agents in parallel and/or sequential order. a.Starting from S, generate all the new possible configurations b.Evaluate each new configuration using FOM, select best alternative that does not violate any constraint c.Repeat until Goal is reached
Mission Scenarios
The mission objective is to complete rock sampling, geological context survey, raking of samples, soil sampling, drive tube sample, and core drill sample at each of two science sites 10 and 20 km from the habitat respectively.
The study showed that having astronauts conduct 5 of the tasks directly, but leaving beacon markers at locations for earth based teleoperated robots to drill and acquire samples at these locations and bring them back to the habitat would save almost two hours per day of EVA time which could be productively used for other tasks. It would take 7.5 hours/day of teleoperated robot time (and associated ground operations).
Current Capability
• Our planning software approach is independent of the specific problem being solved • The software gives the user freedom to specify agents, actions, resources, parameters, constraints, start and goal states, and the objective function to be optimized •Many of the large-scale planners discussed in the literature focus primarily on scheduling activities already associated with agents, tools, etc.; our approach considers alternative assignments of agents, tools, etc. •Using constraints and a “smart” objective function, an multi-hour search of 30,000+ nodes was reduced to hundreds of nodes searched in a few seconds. •This methodology can be applied to conduct systematic comparisons of different mission architectures from the point of view of mission efficiency
2007 LEAG Workshop on Enabling Exploration 3005.pdf
Executive Summary
Date Prepared: August 14, 2007
Presenter’s Name: Charles Shearer Presenter’s Title: Sr. Research Scientist, Research Professor Presenter’s Organization/Company: Institute of Meteoritics, University of New Mexico
Presentation Title
Exploring the Moon with Samples. Scientific and Exploration Importance of Sample Return and Buying Down Risk and Cost of Sample Return Missions.
Key Ideas (1) Overview of Session (2) Sample return is an exceedingly important component of lunar exploration. (3) Samples provide a unique data set that is critical for understanding the Moon. (4) Information about large scale planetary-solar system processes can be extracted from the robotic return of small sample volumes. (5) Sample science and sample return has a symbiotic relationship with orbital science, surface science, and resource utilization. (6) Samples placed within a planetary and geologic context by orbital and human observations is extremely valuable. (7) Sample return fits within a variety of architectures for human exploration of the Moon. (8) Risk and cost of sample return missions are perceived as being more expensive than other planetary missions. How can we buy down risk and cost?
2007 LEAG Workshop on Enabling Exploration 3006.pdf
Executive Summary
Date Prepared: August 14, 2007
Presenter’s Name: Frank Schowengerdt Presenter’s Title: Director of PISCES Presenter’s Organization/Company: University of Hawai'i at Hilo
Presentation Title
The Pacific International Space Center for Exploration Systems (PISCES) as an Example of the Role that the States Can Play in Space Exploration
Key Ideas
The states can play key roles in space exploration beyond the traditional courting of aerospace and technology companies. Examples include establishment of space- related infrastructure, creation and support of research centers and educational programs in institutions of higher education and making unique natural assets available for use by the space exploration community. The initiative taken by the State of Hawai'i in stepping forward to establish and fund PISCES exemplifies all of these roles.
Supporting Information
On June 7th, 2007, the Governor of Hawai'i signed into law legislation authorizing the creation and funding of the Pacific International Space Center for Exploration Systems (PISCES) at the University of Hawai’i at Hilo. This new center is being built on partnerships between academia, industry and the governments of space-faring nations. PISCES will support space exploration and settlement, but it will also benefit the people of Hawai’i through economic development on the Big Island and throughout the State; directly by attracting new businesses, and indirectly by enhancing educational opportunities in science, math and engineering, thereby bolstering the technical workforce needed to attract additional high-tech industry to the State. PISCES will feature a simulated lunar outpost located in the volcanic terrain of the Big Island, where research will be conducted, new technologies will be tested, students will be educated, astronauts will be trained and the public will be invited to experience first-hand what it will be like to live and work on the Moon. Areas of emphasis include ISRU, Surface Operations, Robotics, Solar Energy and Education. Preliminary plans include the establishment of a degree program in Space Operations Technology at the University of Hawai’i at Hilo. The center will be the target of a major fundraising campaign in its early years, with a goal of being independent of State funding within five years. 2007 LEAG Workshop on Enabling Exploration 3007.pdf
Executive Summary
Date Prepared: August 16, 2007
Presenter’s Name: G. Jeffrey Taylor and Paul D. Spudis Presenter’s Title: Professor of Planetary Science Presenter’s Organization/Company: University of Hawai'i at Manoa
Presentation Title
Future of Lunar Sample Return: Robotics, Humans, and Robotic-Human Partnerships
Key Ideas
The intricacy of sample-return missions depends on the complexity of the geologic target. Simple sites, such as a young lava flow, can be done with a simple lander that grabs a sample, perhaps sieving to an optimum size range. More geologically complex sites require more sophisticated sampling, using human powers of observation and problem solving, field mapping and measurements, and re-visits to sites to assure that they are properly understood. Such field work can be done directly by humans or through teleoperation of robots equipped with high-definition vision systems and other tools. A key issue is deciding for which targets simple sample returns are insufficient.
Supporting Information
As described by us previously [1,2], geologic field work, including sampling for study in laboratories, can be divided into two broad categories: (1) Reconnaissance, which can be done by either automated devices or humans, and (2) field study, which requires human observational ability, intelligence, and experience. Reconnaissance provides a broad characterization of the geologic features and processes on a planetary body. It often asks specific questions, such as determining the absolute age of the youngest lava flow on the Moon, thus helping to quantify age determination based on crater counts. In contrast, field studies have more ambitious goals: to understand planetary geologic processes and units at all levels of detail. This means that field studies are long-duration and iterative, and absolutely require humans. It is risky to work in the harsh human environment and expensive to transport humans to all field sites, so a compromise is to use a robotic-human partnership through the use of telepresence in which the human geologist is transported electronically into the robotic field geologist.
(1) Spudis, P.D. and Taylor, G.J. (1992) The roles of humans and robots as field geologists on the Moon. The Second Conference on Lunar Bases and Space Activities of the 21st Century (W.W. Mendell, ed.), NASA Conf. Pub. 3166, 307-313. (2) Taylor, G.J. and Spudis, P.D. (1990) A teleoperated, robotic field geologist. Engineering, Construction, and Operations in Space II (S.W. Johnson and J. P. Wetzel, eds.), 246-255. ASCE, New York. 2007 LEAG Workshop on Enabling Exploration 3008.pdf
THE SPACEWARD BOUND FIELD TRAINING CURRICULUM FOR MOON AND MARS ANALOG ENVIRONMENTS. J. C. Rask1, J. Heldmann2, H. Smith3, M. Battler4, K. Fristad5, M. Allner6, T. Clardy7, O. Clark8, C. Taylor9, R. Citron10, B. Corbin11, G. Negron12, J. Skok13, L. Taylor14, F. Centinello15, A. Duncan16, A. Fan17, S. Pavon18, W. Sutton19, V. Drakonakis20, C. Gilbert21, S. Graves2, G. Guzik22, R. Sahani23, C. P. McKay2, 1Enterprise Advisory Services Incorporated, NASA Ames Research Center, Moffett Field, CA 94035, [email protected].nasa.gov, 2Space Sciences Division, NASA Ames Research Center, Moffett Field, CA 94035, 3Utah State University, Logan, UT 84341, 4Univeristy of New Brunswick, Saint John, NB Canada E2L 4L5, 5Goddard Space Flight Center in Greenbelt, MD, 20771, 6University of North Dakota, Grand Forks, ND 58202, 7Hummelstown, PA 17036, 8University of Guelph, Guelph, ON Canada N1G 2W1, 9Georgia Institute of Technol- ogy, Atlanta, GA 30332, 10University of Chicago, Chicago, IL 60637, 11University of Central Florida, Orlando, Flor- ida, 32816, 12Colegio La Piedad, Carolina, Puerto Rico, 13Cornell University, Ithaca, NY 14853, 14University of Washington, Seattle, WA 98195, 15State University of New York at Buffalo, Buffalo, New York 14260, 16Utah State University Research Foundation, North Logan, Utah, 84341, 17Stanford University, Stanford, CA 94305, 18Swiss Federal Institute of Technology, 1015 Lausanne, Switzerland, 19University of Illinois in Urbana-Champaign, Ur- bana, Illinois 61801, 20University of Patras, Rio, 26500 Patras, Greece, 21McGill University, Montreal, QC Canada H3A 2T5, 22Florida Institute of Technology, Melbourne, FL 32901, 23Massachusetts Institute of Technology, Cam- bridge, MA 02139.
Introduction: The members of four Spaceward ware, electronics, field documentation methodologies, Bound crews have developed a comprehensive training crew transitions and handoff activities. curriculum during mission operations in two-week full-scale immersive simulations of living and working on the Moon and Mars at the Mars Desert Research Station (MDRS) near Hanksville, Utah. The curricu- lum is designed to train students in the fundamentals of Moon and Mars analog station operations, logistics, fieldwork, and scientific investigation. Our efforts build upon the enormous experience base of the previ- ous 51 MDRS crews and many crew training sugges- tions [1]. Spaceward Bound is an educational program organized at NASA Ames Research Center in partner- ship with The Mars Society [2]. Background: The Spaceward Bound training cur- riculum serves as a framework to train field scientists and future astronauts in a wide range of skills neces- sary for working on the Moon and Mars or analog field environments here on Earth. Figure 1. Spaceward Bound students develop and Curriculum content. The curriculum is composed utilize field skills during EVAs at MDRS. of directions, lesson plans, suggestions, protocols, im- ages, diagrams, figures, checklists, worksheets, ex- Curriculum development process. The Spaceward periments, and references that introduce students to the Bound curriculum development was initiated during skills needed for fieldwork, lab work, and facility op- the crew rotations at MDRS that took place between erations at MDRS. The curriculum discusses crew November 2006 and March 2007 [3]. MDRS Space- member positions and their duties, Habitat system ward Bound crews 52, 53, 54, and 55 were composed function and engineering, navigation and Global Posi- of commanders with previous MDRS experience and tioning System (GPS) use, transportation and all ter- undergraduate and graduate students. Each commander rain vehicle (ATV) operations, extravehicular activities served as the editor of content generated by each crew. (EVA) (Figure 1), space suit simulator use and mainte- Recommendations: At this time, the curriculum is nance, standard field and laboratory techniques used in considered to be an evolving document that will con- biology and geology, in-situ resource utilization, re- tinue to be updated and expanded. While the informa- mote sensing data interpretation, communications, tion in the curriculum is written at an introductory teamwork, first aid, logistics, project management, level, it is recommended that it be modified to create a equipment repair and troubleshooting, Greenhab op- more advanced version in anticipation of actual field erations, astronomy and use of an observatory, soft- operations on the Moon and Mars. Additionally, a 2007 LEAG Workshop on Enabling Exploration 3008.pdf
standard tool kit should be created and provided to all students who come to MDRS to complete the training. Finally, we suggest that students who complete the Spaceward Bound curriculum training at MDRS be awarded university credit or a similar recognition of accomplishment. Therefore, a partnership with an ac- credited institution that will provide this service needs to be established. References: [1] R. Kobrick, et.al., IAC-06-E1.5.4, (2006), [2] NASA Quest Spaceward Bound Website http://quest.nasa.gov/projects/spacewardbound/ (2007), [3] Mars Society Spaceward Bound Crew Field Re- ports http://www.marsstuff.com/MDRS/fs06/ (2007). Acknowledgements: We would like to thank Liza Coe and the NASA Ames education team for their support in providing webcast trainings for the four Spaceward Bound crews, Paul Graham, Tony Musca- tello, and Robert Zubrin of the Mars Society for their support with MDRS, and the Exploration Systems Mission Directorate at NASA Headquarters for the funding that made the Spaceward Bound program pos- sible. 2007 LEAG Workshop on Enabling Exploration 3010.pdf
LUNAR EXPLORATION ORBITER (LEO): PROVIDING A GLOBALLY COVERED, HIGHLY RESOLVED, INTEGRATED, GEOLOGICAL, GEOCHEMICAL, AND GEOPHYSICAL DATA BASE OF THE MOON.
R. Jaumann1,3, T. Spohn1,2, H. Hiesinger2, E. K. Jessberger2, G. Neukum3, J. Oberst1, J. Helbert1, U. Christensen4, H.U. Keller4, U. Mall4, H. Böhnhardt4, P. Hartogh4, K.-H. Glassmeier5, H.-U. Auster5, A. Moreira6, M. Werner6, M. Pätzold7, H. Palme8, R. Wimmer-Schweingruber9, M. Mandea10,5, F. Flechtner10, V. Lesur10, B. Häusler11, R. Srama12, S. Kempf12, A. Hördt5, K. Eichentopf1, E. Hauber1, , H. Hoffmann1, U. Köhler1, E. Kührt1, H. Michaelis1, M. Pauer1, F. Sohl1, T. Denk3, S. van Gasselt3.
1Deutsches Zentrum für Luft- und Raumfahrt (DLR), Institut für Planetenforschung, 2Westfälische Wilhelms- Universität, Institut für Planetologie, 3Freie Universität Berlin, Fachbereich Geowissenschaften, Fernerkundung der Erde und der Planeten, 4Max-Planck-Institut für Sonnensystemforschung, Katlenburg-Lindau, 5Institut für Geophysik und extraterrestrische Physik, Universität Braunschweig, 6Deutsches Zentrum für Luft- und Raumfahrt (DLR), Institut für Hochfrequenztechnik und Radarsysteme, 7Institut für Geophysik und Meteorologie, Universität Köln, 8Institut für Mineralogie und Geochemie der Universität Köln, 9Institut für Experimentelle und Angewandte Physik, Christian-Albrechts-Universität zu Kiel, 10GeoForschungsZentrum Potsdam, 11Institut für Raumfahrttechnik, Universität der Bundeswehr München, 12Max-Planck-Institut für Kernphysik, Heidelberg; DLR, Rutherfordstr. 2 12489 Berlin, Germany; [email protected].
demonstrates how valuable the Moon is for the Introduction: The German initiative for the understanding of our planetary system. Even today, the Lunar Exploration Orbiter (LEO) originated from the Moon remains an extremely interesting target national conference “Exploration of our Solar System”, scientifically and technologically, as ever since, new held in Dresden in November 2006. Major result of data have helped to address some of our questions this conference was that the Moon is of high interest about the Earth-Moon system, many questions for the scientific community for various reasons, it is remained. Therefore, returning to the Moon is the affordable to perform an orbiting mission to Moon and critical stepping-stone to further exploring our it insures technological and scientific progress immediate planetary neighborhood. Understanding the origin and evolution of the necessary to assist further exploration activities of our terrestrial planets including Earth requires information Solar System. Based on scientific proposals elaborated about early differentiation volcanism and related by 50 German scientists in January 2007, a preliminary tectonism. However the physics and chemistry of these payload of 12 instruments was defined. Further processes and its chronological sequences are not analysis were initated by DLR in the frame of two completely know. The Moons composition is, due to industry contracts, to perform a phase-zero mission the lack of water and it’s restricted geological active definition. phase, relatively simple and thus provides insight into The Moon, our next neighbour in the Solar planetary processes that are much more obscured on System is the first choice to learn, how to work and other bodies. In particular, Earth and Venus exhibit live without the chance of immediate support from extremely young surfaces, containing almost no record earth and to get prepared for further and farther of the early evolution of a planet. Thus, evidence on exploration missions. We have to improve our how planets differentiate, of how early magma oceans scientific knowledge base with respect to the Moon operate as well as on secondary differentiation and applying modern and state of the art research tools and initial volcanism is restricted to the Moon. Earth and methods. LEO is planed to be launched in 2012 and Moon form a common planetary system that is unique shall orbit the Moon for about four years in a low among the terrestrial planets. Both bodies exchange altitude orbit. gravitational energy. Is there a direct correlation of the specific evolution of Earth including life and the Scientific approach: The Moon is an integral existence of the Moon? The Moon is thought to be the part of the Earth-Moon system, it is a witness to more product of an early planetary collision of a mars-sized than 4.5 b.y. of solar system history, and it is the only body with Earth. However this model needs to be planetary body except Earth for which we have confirmed by measurable “ground truth”. Datation of samples from known locations. The vast amount of planetary surface and thus of planetary processes like knowledge gained from the Apollo and other lunar emplacement of lava, collision events, and breaking of missions of the late 1960's and early 1970's the crust depends on the distribution and frequency of impact craters. This statistical method is based on the 2007 LEAG Workshop on Enabling Exploration 3010.pdf
long record of impacts known from the lunar surface stereoscopic global mapping in the meter range a and correlations with the absolute age of lunar screening of the electromagnetic spectrum within a samples. However, particularly small impact craters very broad range will be performed. In particular, that are needed to improve the accuracy of theses spectral mapping in the ultraviolet and mid-infrared dating method are not mapped out globally. As the will provide insight in mineralogical and thermal moon has no atmosphere its surface will not only properties so far unexplored in these wavelength collect impacts of smallest scale but is hit by sizes ranges. Fine scale analysis of the lunar regolith by down to the particles of the solar wind. The surface radar sounding will provide structural information debris called regolith has thus collected information about the regolith layer. The determination of the dust about activities in our space environment over time distribution in the lunar orbit will provide information until the beginning. about processes between the lunar surface and A necessary further step in investigating the exosphere supported by direct observations of lunar Moon is getting a global and integrated view of its geology, geochemistry and geophysics at highest flashes. The geophysical properties of the Moon will resolution down to meter scale. In particular, we need be investigated by recording the magnetic and to significantly improve our understanding of the lunar gravitational field with so far unrivalled accuracy due surface structure and composition, surface ages, to the low orbit, stable spacecraft, sub-satellite and mineralogy, physical properties, interior, thermal specific tracking. Measuring of the radiation history, gravity field, regolith structure, and magnetic environment will finally complete the exosphere field. A low altitude orbiting spacecraft, equipped with investigations. Combined observation based on a wealth of high-resolution remote sensing simultaneous instrument adjustment and correlated instrumentation, can achieve such a goal. Highest data processing will provide an integrated geological, resolution geological, geochemical and geophysical geochemical and geophysical database that yield the mapping will provide the unambiguously needed comprehensive scientific source for any further lunar information to plan landings and future utilization of exploration. the Moon. Numerous space-faring nations have realized Summary: LEO is featuring a set of unique and identified the unique opportunities related to lunar scientific capabilities w.r.t. other planned missions exploration and have planned missions to the Moon including: (1) 100% global coverage of all remote within the next few years. Among these missions, LEO sensing instruments with stereo resolutions of 1 m will be unique, because it will globally explore the HRSC and ground resolution of the spectral bands of < Moon in unprecedented spatial and spectral resolution. 10 m. (2) Besides the VIS-NIR spectral range so far LEO will significantly improve our understanding of uncovered wavelengths in the ultraviolet (0.2 – 0.4 the lunar surface composition, surface ages, µm) and mid-infrared (7 - 14 µm) will be globally map mineralogy, physical properties, interior, thermal the lunar surface. (3) Subsurface detection of the history, gravity field, regolith structure, and magnetic regolith with a vertical resolutions of about 2 m down field. The Lunar Explorations Orbiter will carry an to a few hundred meters (radar) and on mm-scale entire suite of innovative, complementary within the first 2 meters (microwave-instrument) will technologies, including high-resolution stereo camera investigate the regolith. (4) Detailed measurements of systems, several spectrometers that cover previously the gravity field and magnetic field from a low orbit unexplored parts of the electromagnetic spectrum over (50 km) by the satellite a subsatellite simultaneous a broad range of wavelengths, microwave and radar Earth tracking, supported by a gravimeter and two experiments, a very sensitive magnetometer and independent magnetometers will provide high gradiometer, and a subsatellite. The Lunar precision and in addition will enable to geophysical Explorations Orbiter concept is technologically investigate the far side. (5) The long mission duration challenging but feasible, and will gather unique, of 4 year yields multiple high resolution stereo integrated, interdisciplinary data sets that are of high coverage and thus monitoring of new impacts; this is scientific interest and will provide an unprecedented supported by a flash detection camera searching new context for all other international lunar missions. directly for impact events and dust detection in the With its high visibility, LEO will foster the growing exosphere. acceptance of space exploration in Germany and will LEO is currently in a definition phase. The capture the imagination of the general public. mission scenario foresees a launch beginning 2012, a The most visible mission goal will be the five-day lunar transfer, a two-month commissioning global mapping of lunar surface with high spatial as phase and a four years mapping phase. well as spectral resolution. Therefore in addition to a 2007 LEAG Workshop on Enabling Exploration 3011.pdf
Executive Summary
Date Prepared: 16 August 2007
Presenter’s Name: Paul D. Spudis Presenter’s Title: Planetary Scientist Presenter’s Organization/Company: Applied Physics Laboratory
Presentation Title
Scientific contributions of lunar robotic precursor missions
Key Ideas
Robotic missions can acquire scientific information to make our return to the Moon safer and more productive. New orbital missions, hard landing probes, soft landing spacecraft, surface rovers, networks and sample returns all can provide important information and gain operational experience in the lunar environment. In addition, data from robotic probes are important to prepare for the characterization and utilization of local resources, a principal objective of lunar return.
Supporting Information
New orbiters carrying advanced, second-generation sensors include global imaging radar, microwave radiometry, VHF sounding, UV spectroscopy, others
Hard landers could include penetrators or crushable microspacecraft. Carry surface analysis instruments (neutron, mass spectrometers; XRF)
Soft landers can analyze a single site in detail and deploy other instruments or spacecraft
Rovers can conduct traverses and explore a region, making measurements and images along the route.
Networks of surface instruments can characterize the global Moon (seismic, heat flow) and study the lunar exosphere
Sample return mission can collect reconnaissance samples of sites in preparation for human study or to site where people won’t be going.
2007 LEAG Workshop on Enabling Exploration 3012.pdf
Executive Summary
Date Prepared: August 16, 2007
Presenter’s Name: Bret Drake, on behalf of the Mars Architecture Working Group Presenter’s Title: Chief Architect, Systems Engineering & Integration, Constellation Program Presenter’s Organization/Company: JSC, NASA
Presentation Title
The Things We Most Need to Learn at the Moon to Support the Subsequent Human Exploration of Mars
Key Ideas
The engineering and scientific heritage that will be established in the lunar exploration program over approximately the next two decades will be a critical component of the foundation for the subsequent human exploration of Mars. In order to optimize the value of that heritage, a very large multi-disciplinary, cross-organizational team of engineers and scientists, referred to as the Mars Architecture Working Group (MAWG), has been working on establishing a reference approach for the first three crewed missions to Mars. A primary purpose of this effort is to develop a specific understanding of the attributes of the lunar program that would be most beneficial to the safe and cost-effective conduct of human missions to Mars. MAWG has developed preliminary conclusions related to the transportation approach, the surface system, the design of the scientific system and surface science operations, human safety factors, and planetary protection.
Supporting Information
The Mars Architecture Working Group was chartered under the auspices of the Exploration Systems Mission Directorate, Science Mission Directorate, Aeronautics Research Mission Directorate, and the Space Operations Mission Directorate. During 2007, the Mars Architecture Working Group began the process of establishing better definition of potential strategies for the eventual human exploration of Mars. The MAWG was specifically chartered to: Update NASA’s human Mars mission reference architecture, Establish a better understanding of key challenges including risk and cost drivers, Identify ways to reduce the cost and risk of human Mars missions through investment in research, technology development and synergy with other exploration plans, Assess the strategic linkages between lunar and Mars strategies, and Develop a forward plan to resolve issues not resolved during 2007
This presentation will provide an overview of the key findings resulting from the MAWG 2007 study, specifically as they pertain to the lunar exploration strategy. 2007 LEAG Workshop on Enabling Exploration 3013.pdf
Biotechnologies at Lunar Outpost and Beyond. I.I. Brown1, J.A. Jones1, D. Garrison1, D. Bayless2, S.A. Sark- isova1, G.B. Sanders1, D.S. McKay1. 1NASA JSC, 2101 NASA Parkway Houston, TX 77058, e-mail: [email protected]; 2Department of Mechanical Engineering, Ohio University, 248 Stocker Center, Athens, OH 45701, e: mail: [email protected].
Introduction: A major goal for the Vision of that has been evaluated on a habitat scale by NASA Space Exploration is to extend human presence across employed production from highest orders plants. This the solar system. With current technology, however, system has been proposed as a subsystem for a more all required consumables for these missions (propel- comprehensive bioregenerative life support systems, lant, air, food, water) as well as habitable volume and even though the efficiency of higher plants for atmos- shielding to support human explorers will need to be pheric revitalization is generally low. Thus, with the brought from Earth. In situ production of consumables release of the NASA Lunar Architecture Team lunar (In Situ Resource Utilization-ISRU), such as propel- mission strategy, the investigation of more efficient air lants, life support gas management, as well as support bioregeneration techniques based on the metabolism of system construction materials, will significantly facili- lower order photosynthetic organisms with higher ca- tate human hopes for exploration and colonization of pacity of CO2 scrubbing and O2 release appears to be the solar system, especially in reducing the logistical very timely and relevant. The European Micro- overhead such as recurring launch mass. Ecological Life Support System Alternative Methods and Results: (MELiSSA) is an advanced idea for organizing a bio- Lithotrophic bacteria for ISRU: The most chal- regenerative system for long term space flights and lenging technologies for future lunar settlements are extraterrestrial settlements. In particular, feeding ani- the extraction of elements (e.g. Fe, O, Si, etc) from mals suffering from radiation-induced lesions, c- local rocks and soils for life support, industrial feed- phycocyanin, extracted from strain 27G, led to a cor- stock and the production of propellants. While such rection in the decrement of dehydrogenase activity and extraction can be accomplished by purely inorganic energy-rich phosphate levels, as well as improved an- processes, the high energy requirements and typically tioxidant defense and pyruvate levels, compared to high mass of such processes drive the search for alter- untreated animals [1]. native technologies with lower energy and mass re- We propose additional development and refine- quirements and sustainable efficiency. Currently em- ment of the MELiSSA system by the employment of ployed terrestrial industrial biotechnologies for metals the blue-green alga strain Spirulina, which possesses extraction and refining could provide a basic founda- increased productivity of 50% of the essential amino tion for the development of extraterrestrial biometal- acids, immunomodulators for astronaut health mainte- lurgy. Our preliminary data showed that this CB strain nance, as well as by the possible addition of biometal- is able to secret 2 keto-glutaric acid which leaches lurgy and fuel production to the life support cycle. ilmenite, a main mineralized resource of O2 on Moon. Conclusion: Despite the harsh lunar environ- Special experiment on the leaching activity of a cyano- mental conditions, it seems possible to cultivate photo- bacteriumJSC-12 revealed that this stain was able to synthetic microorganisms using a closed bioreactor dissolve 11 mg of ilmenite (initial amount 1200 mg) illuminated and heated by solar energy. Such bioproc- during one month under non-optimized conditions. essing might be employed in critical ISRU functions, Methanogenic bacteria for carbon recycling: e.g. air revitalization, propellant (oxygen and methane) Future systems for organic waste utilization in space and food production, and divalent cation extraction. may also benefit from the use of specific microorgan- Thus, the most critical feature of our project is the isms. This janitorial job is efficiently carried out by proposal to combine biometallurgy with food and pro- microbes on Earth, which drive and connect different pellant production, to form an integrated bioindustrial elemental cycles. It is possible that bioregenerative system that would be the core of successful lunar out- environmental control and life support systems will be post sustainability and growth. Such a synthesis of capable of converting both organic and inorganic com- technological capability, as embodied in a lunar sur- ponents of the waste at lunar settlements into edible face ISRU bioreactor, could decrease the demand for biomass, thereby conserving precious carbon, nitrogen energy, transfer mass and cost of future lunar settle- and sulfur. ments. Phototrophic bacteria for LSS: The life support, Reference: fuel production and material processing systems cur- [1]. Bayless, D., Brown, II, et all. (2006) rently proposed for spaceflight are not completely in- HABITATION 2006. Abstract #28. tegrated. The only bioregenerative life support system 2007 LEAG Workshop on Enabling Exploration 3014.pdf
SCIENTIFIC AND RESOURCE CHARACTERIZATION OF LUNAR REGOLITH USING DIELECTRIC SPECTROSCOPY. D. E. Stillman and R. E. Grimm, Department of Space Studies, Southwest Research Institute, 1050 Walnut Street, Suite 300, Boulder, CO 80302, [email protected], [email protected].
Introduction: Water ice and ilmenite both have Two groups have measured the electrical proper- unique dielectric responses that can be used to detect ties of cubic ice. Unfortunately, their conclusions var- their concentration as a function of depth, noninva- ied. Gough and Davidson [10] found that the relaxa- sively from the lunar surface. Electrical measurements tion frequency of cubic ice and hexagonal ice were the at the surface can also be used to determine the density same, while Johari [11] found that cubic ice had an of the lunar regolith. Subsurface water ice may exist order of magnitude higher relaxation frequency than in permanently shadowed regions near the poles of the hexagonal ice. We plan to measure cubic ice in the Moon [1-6]. The presence of water in these perma- future, but are currently concentrating on measuring nently shadowed areas is not only important for in-situ hexagonal ice. resource utilization (ISRU), but it also records the flux of volatiles into the inner solar system over the last Dielectric Relaxation of Hexagonal Ice: Disper- billion years. Ilmenite in the lunar regolith is an im- sion in the dielectric constant arises from frequency portant part of ISRU for oxygen production. The ver- dependence in polarizability and is often manifested as tical density profile determines the thickness of the a distinct band of maximum change, a dielectric re- lunar regolith. laxation (Fig. 1). Bjerrum defects in water ice are strongly polarized at low frequencies to create a real Lunar Regolith: Previous measurements of lunar part of the relative dielectric permittivity at low fre- regolith showed that the high frequency part of the real quency ( ’DC) >90. At high frequency, these defects part of the dielectric constant was directly related to cannot move fast enough to polarize fully, limiting the the density via 1.9 where equals bulk density [7]. real part of the dielectric constant to ~3. The Debye The lunar regolith was shown to contain a large dielec- relaxation frequency occurs at the frequency where tric relaxation at low frequencies that was proportional these defects are in constant motion. to its [TiO2%+FeO%] or ilmenite concentration [7]. The relaxation frequency and ’DC are dependent This relaxation was found to relax over a broad fre- on temperature, the amount of excess H+ and OH-, and quency range (broad distribution of time constants) the amount of Cl- and F- impurities that have replaced 2- and to be temperature dependent with an activation O in the lattice structure of ice [12]. Due to the lack - - energy of 2.5 eV [7]. At cold temperatures in the per- of Cl and F on the Moon, we believe the ice will be manently shadowed regions of the Moon, this relaxa- relatively pure. The temperature dependence of the tion will shift out of the measurable frequency range. relaxation frequency follows an Arrehenius relation- However, it can be measured at typical lunar tempera- ship with an activation energy of 0.56 eV. Impurities tures. cause the activation energy to reduce to 0.23 eV at low temperatures. Even double and triple deionized Formation of Water Ice: It is believed that wa- water ice has been shown to shift to this lower activa- ter ice and possibly CO2 ice are transported to the tion energy at around 233 K [14,15]. The value of Moon via comets and/or planetary outgassing. Water activation energy describes how quickly relaxation ice could also have formed from the regolith via im- frequency changes with temperature. pact vaporization, photon stimulated desorption, and ion sputtering. Once water condenses on the surface, Laboratory Measurement: The dielectric re- it will stay there until it sublimates away. The subli- laxation of pure and doped ice has been measured pre- mation rate is extremely temperature dependent vary- viously; however much uncertainty remains in these ing exponentially with increasing temperature. For measurements at temperatures below 213 K [13-15]. example, water ice will sublimate away at a rate of 1 m Minimal research has been conducted on the effects of per a billion years at a temperature of 110 K [8]. Sta- ice in soil [16,17]. Extrapolations from existing data ble water ice deposits are typically modeled with tem- show that the ice relaxation at the temperature of the peratures below 110 K and only occur in the perma- permanently shadowed lunar craters ( 100 K) is most nently shadow regions [8]. When deposited, the water likely greater than 10-5 Hz (Fig 2). To reduce this un- ice is in the form of amorphous ice. Even at these cold certainty, we have been making temperature and fre- temperatures amorphous ice will convert to cubic ice quency dependent electrical property measurements of over millions of years [9]. soil/ice mixtures as well as pure and doped ice samples over a temperature range from 90 – 273 K and fre- 2007 LEAG Workshop on Enabling Exploration 3014.pdf
quency range from 1 mHz – 1 MHz. Electrical proper- phys., 10, 351-364. [20] Telford W.M. et al. (1990) ties measurements are being made with a 1260 So- Applied Geophysics, 770 pp. lartron Impedance Analyzer connected to a 1296 Di- electric Interface or a 1294 Impedance Interface. Measurements are made in a three-electrode geometry [e.g., 18]. Electrical properties can be expressed as complex dielectric constant, complex conductivity, or complex resistivity. Application: Narrowband measurement of the re- sistive-capacitive properties of the earth ("induced polarization") has been used for nearly a century to explore for minerals and groundwater and to character- Figure 1. Alternative schematic layouts for IP electrodes. ize subsurface geology. Broadband systems are now Tx = transmitter, Rx = receiver. (1) Electrodes on static lan- seeing wide application, including environmental stud- der footpads. (2) Closely spaced electrodes on ballistically ies [e.g., 19]. The Huygens, the Rosetta lander, and deployed string for shallow subsurface investigation. (3) Widely spaced electrodes for deeper investigation. (4) Large Phoenix spacecraft all include electrical-properties transmitter dipole on lander and short dipole on rover (wheel sensors. However, characterization of the full band- width of possible water-ice responses and soundings to base) for deep investigation. (5) Rover-only short dipoles for mobile, shallow investigation. depths of meters or more requires high-impedance
(~10 T ), low-capacitance (~1 pF) coupling, mitiga- tion of coherent noise such as leakage and eddy cur- rents using buffering shielding, guarding of electrodes, and larger electrode arrays. The electrodes (sensors) can be accommodated in lander legs, rover wheels, a
robotic arm, or in a ballistically deployed string (Fig
1). Our present efforts are aimed toward a design of a
transmitter and receiver requiring a few kilograms and
a few watts, plus sensors.
A forward calculation using present estimates of
the intrinsic properties of ice and its moderation due to regolith mixing (Fig. 2) illustrates that an ice-detection limit of ~1% or better is possible.
References: [1] Nozette, S. et al. (1996) Science, 274, 1495-1498. [2] Vasavada, A.R. et al. (1999) Icarus, 141, 179-193. [3] Feldman, W.C. et al. (2001) JGR, 106, 23231-23252. [4] Nozette S. et al. (2001) JGR, 106, 23253-23266. [5] Feldman, W.C. (2002) Science, Fig. 2. Forward models for the geoelectrical signature of lunar ice from surface electrode arrays. Model invokes a 197, 75-78 [6] Campbell, D.B. et al. (2006) Nature, two-layered structure [20], uses the complex refractive index 443, 835-837. [7] Carrier, W.D. et al. (1991) in Lunar model (CRIM) to calculate electrical properties of mixtures Sourcebook (eds. Heiken et al.), 475-594. [8] Va- of soil and the target substance, and assumes that multiple savada, A.R. et al. (1999) Icarus, 141, 179-193. [9] electrodes are distributed along a linear antenna such that Kouchi, A. et al., (1994) Astron. Astrophys., 290, four-electrode combinations can be used at a variety of spa- 1009-1018. [10] Gough and Davidson (1970) Journ. tial scales. Ice depths of 0.1 m (red) and 1 m (black) and ice Chem. Phys., 52, 5442-5449. [11] Johari, G.P. et al. fractions 10% (solid), 3% (dash), and 1% (dot) indicate that (1991) Journ. Chem. Phys., 52, 2955-2964. ice can be resolved at percent abundance or better (relaxa- [12] Petrenko V.F. and Whitworth R.W. (1999) Phys- tion time constant of ice after Kawada [14]; dry regolith resistivity 1012 -m after Carrier et al. [7]; test frequency 1 ics of Ice, 373 pp. [13] Auty, R.P. and Cole R.J. (1952) mHz). J. Chem. Phys., 20, 1309. [14] Kawada, S. (1978) J. Phys. Soc. Jpn., 44, 1881-1886. [15] Johari G.P. and Whalley E. (1981) J. Chem. Phys., 75, 1333-1340. [16] Alvarez R. (1973) Earth & Planet. Sci. Let., 20, 409-414. [17] Alvarez R. (1973) Science, 179, 1122- 1123. [18] Olhoeft, G.R. (1985), Geophys., 50, 2492- 2503. [19] Grimm R.E. (2005) J. Environ. Eng. Geo- 2007 LEAG Workshop on Enabling Exploration 3015.pdf
ESTABLISHMENT OF A WIRELESS MESH NETWORK AND POSITIONAL AWARENESS SYSTEM IN A MARS ANALOGUE ENVIRONMENT. Thomas W. Clardy1 K.E. Fristad2 J. C. Rask3 C. P. McKay4. 11148 Galway Court, Hummelstown, PA 17036, [email protected], 2Goddard Space Flight Center in Greenbelt, MD 20771, 3Enterprise Advisory Services Incorporated, NASA Ames Research Center, Moffett Field, CA 94035, 4Space Sciences Division, NASA Ames Research Center, Moffett Field, CA 94035.
Introduction: While access to positional aware- were used to cover the area and examine the specific ness information is readily available on Earth through absorption rate of the elevated landmasses in the test the Global Positioning System (GPS), no such system area around MDRS. The system was tested for suit- exists today on the Moon or Mars. It is anticipated that ability of passing data over the link at various ranges. reliable, accurate, and ubiquitous positional awareness The Ekahau Real-Time Location System (RTLS) will be necessary to meet the future scientific and lo- was configured, calibrated, and tested on this network. gistical requirements of field operations on the surface The Ekahau (RTLS) “uses the received signal strength of other planetary bodies. Therefore, rovers and astro- indicator (RSSI) as the basis for positioning and a nauts must also be equipped with communication ca- probabilistic framework for estimating the location of pabilities that provide real-time information on loca- the tracked item. The framework compares the re- tion, heading, and rate of travel. Such a network must ceived RSSI values with the values stored in the Posi- handle the data communications needs between remote tioning Model to determine the location of the device” sensors, rovers, roving transport vehicles, astronauts [2]. Multipath from elevated land formations was an- on extravehicular activity (EVA), and fixed structures. ticipated to play a role in both link quality coverage Our work focuses on the development of a wireless availability and in the Ekahau (RTLS) positional accu- mesh network constructed from commercial off-the- racy level. shelf (COTS) hardware and COTS software to provide During testing, the isolated desert environment was positional awareness, which is independent of GPS, in devoid of significant 2.4Ghz background noise. At- the field over this network. mospheric losses were mitigated by very low humidity. This project demonstrates the ability and examines Temperature was 8°C and moisture in the first few the effectiveness of providing geospatial positional centimeters of soil was low. awareness information for every node on a wireless Methods: The following equations were used in mesh network (WMN). It is anticipated that any com- this study: munications network will require at least one central- Transmit[dBm] = Transmit power[dBm]
tance was ~580 meters, taking into account the slope A redundant, fault-tolerant, self-healing, decentralized, of the landmass. Average receiving results over 180 data communications network with low power re- seconds were –88dB, approaching the receivers sensi- quirements will be required to support the future scien- tivity threshold to maintain a quality useable link. tific and logistical requirements of field operations on For comparison, free space results for 580 meters the surface of other planetary bodies. Following this distance were obtained and averaged for the same time model, a wireless mesh network is an ideal candidate duration and were –47dB. The theoretical maximum for fundamental lunar and martian infrastructure. for the distance of 580 meters (with the +24dBi and +8dBi antennas, 1dB combined cable loss, and radios with –92dBm sensitivities) is –42.57dB. An approxi- mation of the rear leakage from the transmitting an- tenna was sampled by aiming the transmitting antenna into free space and measuring signal strength 80 me- ters behind the antenna. Signal strength was measured to be –84dB, providing a consistently useable link.
Observations Of Multipath in Mars Analogue
70 60 50 40 Fig. 2 A screen shot of the positional awareness model 30 tested at the Mars Desert Research Station.
Inverse of -dB of Inverse 20 10 A WMN located on crater rim at the lunar south 0 pole could be powered nearly continuously by solar Theoretical Actual free space Directional antenna Reflected signal Reflected signal maximum performance rear leakage (multipath) compensated value panels [3] providing ground based communications performance (actual gain of multipath) and positional awareness for landers, rover and hu- mans while reducing the power/mass requirements for Fig. 1 Signal measured around MDRS. onboard communication devices. Easily expanded or descoped as needed, the WMN and backhaul station Positioning Engine The Ekahau RTLS software was can provide data storage and a muli-device accessible configured, a location map was generated, calibration link to Earth or the limited coverage of orbiters. A points were taken, and the software was tested. The WMN is a critical tool for the evolution of planetary Ekahau RLTS software supports any 802.11 compliant exploration from landers and rovers through human device as well as Ekahau T201 Wi-Fi tags. The small exploration and settlement. Wi-Fi tags were attached to crewmembers and assets, References: [1] Field Testing of the WiFi system and their position was tracked on the software engine at MDRS, http://www.marsstuff.com/mdrs/fs06/1205/ in real time. Laptops with the Ekahau client were also [2]Ekahau: Comparison of Wireless Indoor Position- tracked. The positioning engine worked throughout ing Technologies (2005) An Ekahau Whitepaper the test area without incident. The internal antenna of ,Ekahau, Inc. www.ekahau.com [3] Fristad, K.E. et al. the T201 Wi-Fi tags provided a positional fix in all but (2004) LPSC XXXV #1582. the weakest signal strength areas. A link was main- Acknowledgements: We would like to thank tained until overall signal strength dropped to less than MDRS Crew 52: Matthew M. Allner, Olathe Clark, approximately –74dBi as measured on a zero-gain and Christianna Taylor. The Mars Society; especially omni-directional antenna. Robert Zubrin, Tony Muscatello and Paul Graham. Discussion and Summary: Near line-of-sight was Everyone at Ekahau, especially Chris Doran. Don proven to be a requirement for a usable link. The posi- Foutz, Hanksville UT. TMW inc, Harrisburg, PA and tioning model requires reception to at least 3 access Pixel. points. These results show that while some multipath reflection can be expected, local soils or rock may not be sufficiently dense to create a strong multipath envi- ronment, perhaps a detriment for MIMO radios and a consideration for highly contrasting topographic thea- ters of operation. Line of sight is best achieved by po- sitioning radios at high elevations or on crater rims. 2007 LEAG Workshop on Enabling Exploration 3016.pdf
LUNAR CRATER OBSERVATION AND SENSING SATELLITE (LCROSS) MISSION: OPPORTUNITIES FOR OBSERVATIONS OF THE IMPACT PLUMES FROM GROUND-BASED AND SPACE-BASED TELESCOPES. J.L. Heldmann1, T. Colaprete1, D. Wooden1, E. Asphaug2, P. Schultz3, C.S. Ple- sko2, L. Ong2, D. Korycansky2, K. Galal1, and G. Briggs1, 1NASA Ames Research Center, Moffett Field, CA, 94035, 2University of California at Santa Cruz, Santa Cruz, CA, 95064, 3Brown University, Providence, RI, 02912
Introduction: The primary objective of the pectation for the total ejected mass above 2 km were LCROSS (Lunar Crater Observation and Sensing Sat- used in order to build in margin). To date, models for ellite) mission is to help advance the Vision for Space the impact indicate that the impact flash will evolve in Exploration by investigating the presence of water on tens of milliseconds and the impact ejecta will rise into the Moon. The LCROSS mission, which is a comani- sunlight and fall back to the lunar surface in less than fested payload launching with the Lunar Reconnais- about 2 minutes, thereby motivating the use of rapid sance Orbiter in October 2008, will use the Atlas V measurement techniques for ground- and space-based Centaur Earth departure upper stage (EDUS) of the telescopes. Only the temporal evolution of the OH- launch vehicle as a 2000 kg kinetic impactor. The im- exosphere is expected to persist for more than tens of pact creates an ejecta plume whose properties, includ- minutes. ing water ice and vapor content, will be observed by a Observational Support: Ground-based and orbital shepherding spacecraft (S-S/C) plus Earth- and space- observatories can observe the dust and water vapor based telescopes. Following a similar trajectory of the plume caused by the two impacts into the lunar sur- EDUS, the S-S/C will fly through the EDUS impact face. Compared to the Deep Impact (DI) Mission en- plume and then the 700 kg S-S/C will also impact the counter with comet 9P/Tempel, LCROSS’s EDUS Moon. The S-S/C impact will likely also be observ- impact plume will have 100 times less mass at 360 able to ground-based and space-based telescopes. times closer range, so the surface brightness will be Impact Characterization: The LCROSS mission uses higher. However, the dust-to-ice ratio for the impact the impact of the EDUS to excavate and eject lunar location regolith is expected to be orders of magnitude surface material from a permanently shadowed region greater, perhaps ~100 in comparison to ~0.5 for Deep into sunlight where the ejecta can be imaged and spec- Impact. Therefore, ground-based telescopes can ob- troscopically studied at visible through mid-IR wave- serve the thermal evolution and the properties of the lengths by the LCROSS S-S/C and from the UV (HST) dust in the ejecta plume, and 8-10 m class telescopes through radio (ODIN). Modeling the impact facilitates will be required to search for water vapor using the effective planning and execution of the observational non-resonant fluorescent lines at ~3 μm. The longer campaign. time scale evolution of the OH- exosphere can be fol- Models for the LCROSS impact are based on nu- lowed by telescopes around the world. The timing of merical hydrodyanamic codes, impact experiments the two impacts should allow for simultaneous obser- with the NASA Ames vertical gun, and analytical vations from Hawaii, the Continental US, and/or from models using semi-empirical scaling relations derived South America (e.g. Chile). from laboratory experiments. All approaches contrib- We encourage astronomers to consider observing ute information to the task of guiding the design of the these impact events. The LCROSS team will make all LCROSS mission and observational campaign. Such a efforts to provide the necessary information regarding variety of approaches and the corresponding ranges of the impacts to interested observers in a timely manner. results will very likely prove more useful in bracketing In addition, the LASER (Lunar Advanced Science the expected outcomes. and Exploration Research) component of NASA’s To aid in the formulation of the LCROSS mission R&A program is soliciting support for LCROSS ob- and measurement design, a compilation of model re- servations through the ROSES 2008 call. Please con- sults has been built which summarizes the current best tact Jennifer Heldmann at NASA Ames Research Cen- estimate for the impact event. This summary, called ter for further information and plans for ground and the Current Best Estimate Impact Model (CBEIM), space based impact observation campaign coordination includes both high and low values for a variety of rele- ([email protected]). vant physical quantities including crater dimensions and ejecta velocities (see Figures 1 and 2). In most cases the “current best estimate” was used for design purposes, however, on a case-by-case basis additional “margin” was allowed for by using the model results between the best estimate and the modeled low esti- mate (e.g., often the values closer to the low-end ex- 2007 LEAG Workshop on Enabling Exploration 3016.pdf
Figure 1. Current Best Estimate Impact Model (CBEIM) for ejecta curtain characteristics
Figure 2. CBEIM for curtain radius and ejecta mass.
2007 LEAG Workshop on Enabling Exploration 3017.pdf
An Overview of The Lunar Crater Observation and Sensing Satellite (LCROSS) Mission – An ESMD Mis- sion to Investigate Lunar Polar Hydrogen A. Colaprete1, G. Briggs1, K. Ennico1, D. Wooden1, J. Heldmann1, L. Sollitt2, E. Asphaug3, D. Korycansky3, P. Schultz4, A. Christensen2, K. Galal1, and the LCROSS Team, 1NASA Ames Research Center, Moffett Field, CA, [email protected], 2 Northrop Grumman Corporation, Redondo Beach, CA, 3University of California Santa Cruz, 4Brown University.
Introduction: Interest in the possible presence of craft (S-S/C), which after release of the EDUS, flies water ice on the Moon has both scientific and opera- toward the impact plume, sending real-time data and tional foundations. It is thought that water has been characterizing the morphology, evolution and compo- delivered to the Moon over its history from multiple sition of the plume with a suite of cameras and spec- impacts of comets, meteorites and other objects. The trometers. The S-S/C then becomes a 700 kg impactor water molecules migrate in the Moon’s exospheric itself, to provide a second opportunity to study the na- type atmosphere though ballistic trajectories and can ture of the Lunar Regolith. LCROSS provides a critical be caught in permanently shadowed polar cold traps ground-truth for Lunar Prospector and LRO neutron that are cold enough to hold the water for billions of and radar maps, making it possible to assess the total years. Verification of its actual existence would help lunar water inventory, as well as provide significant science constrain models of the impact history of the insight into the processes that delivered the hydrogen lunar surface and the effects of meteorite gardening, to the lunar poles in the first place. This paper will photo-dissociation, and solar wind sputtering. Meas- overview the rationale and goals for the mission, im- urements of the ice distribution and concentrations pact expectations and the mission design. would provide a quantitative basis for studies of the Moon’s history. Deposits of ice on the Moon could have practical implications for future human activities on the Moon. A source of water could enable long duration human activities and serve as a source of oxygen, another vital material that otherwise must be extracted by melting and electrolyzing the lunar regolith. Hydrogen derived from lunar ice could be used as a rocket fuel. These attractive considerations influence the architecture and plans for human activities on the Moon. Thus, the determination of the non-existence of water ice at the poles may cause a re-alignment of the architecture and plans. Operations from a lower latitude near side base would lead to substantially simpler communications approach, would focus exploitation on regolith proc- essing instead of ice processing and would negate the challenge of developing robotic technologies capable of working in cryo-craters and nearly perpetual dark- ness. The LCROSS Mission: The primary objective of the Lunar Crater Observation and Sensing Satellite (LCROSS) is to confirm the presence or absence of water ice at the Moon’s South Pole. This mission uses a 2000 kg kinetic impactor with more than 200 times the energy of the Lunar Prospector (LP) impact to ex- cavate more than 250 metric tons of lunar regolith. The resulting ejecta cloud will be observed from a
number of Lunar-orbital and Earth-based assets. The Figure 1. Artist concept of the EDUS (a Centaur upper impact is achieved by steering the launch vehicle’s stage) on its final descent toward the Moon. The spent Earth Departure Upper Stage (EDUS) into a smaller Shepherding satellite is shown in the upper permanently shadowed polar region (Figure 1). The right hand corner of the image. EDUS is guided to its target by a Shepherding Space- 2007 LEAG Workshop on Enabling Exploration 3018.pdf
INTERIM RESULTS FROM THE MEPAG HUMAN EXPLORATION OF MARS SCIENCE ANALYSIS GROUP (HEM-SAG). J. Heldmann1, J. Levine2, J. Garvin3, D. Beaty4, M.S. Bell5, T. Clancy6, C.S. Cockell7, G. Delory8, J. Dickson9, R. Elphic10, D. Eppler11, D. Fernandez-Remolar12, J. Gruener13, J.W. Head14, M. Helper15, V. Hipkin16, M. Lane17, J. Levy18, R. Millikan19, J. Moersch20, G. Ori21, L. Peach22, F. Poulet23, J. Rice24, K. Snook25, S. Squyres26, and J. Zimbelman27, 1NASA Ames Research Center , 2NASA Langley Research Center, 3NASA Goddard Space Flight Center, 4Jet Propulsion Laboratory, 5NASA Johnson Space Center, 6SSI, 7Open University, 8UC Ber- keley, 9Brown University, 10Los Alamos National Laboratory 11NASA Johnson Space Center, 12Center for Astrobi- ology, Spain, 13NASA Johnson Space Center, 14Brown University, 15UT-Austin, 16Canadian Space Agency, 17PSI, 18Brown University, 19Jet Propulsion Laboratory, 20University of Tennesee, 21IRSPS, Italy, 22USRA, 23University of Paris, France, 24Arizona State University, 25NASA Headquarters, 26Cornell University, 27Smithsonian
Introduction: In March 2007, MEPAG (Mars Ex- Preliminary Findings: The HEM-SAG here re- ploration Program Analysis Group) chartered the Hu- ports on some preliminary findings from work to date. man Exploration of Mars Science Analysis Group Analysis is still ongoing and these represent only pre- (HEM-SAG) to prepare an analysis of the possible liminary results of the HEM-SAG efforts. science objectives for the human exploration of Mars Context. Science can provide fundamental reasons (HEM). The work of the HEM-SAG feeds into the for humans to explore Mars and to ensure an important Mars Architecture Working Group that is tasked with and lasting legacy (knowledge, technological capabil- developing integrated program strategies and decision ity, etc). Science is a key partner in this overall pro- timelines for the initial human exploration of Mars. gram. HEM-SAG analysis indicates that humans on The possible capabilities that can be provided as part Mars can significantly and uniquely advance our un- of the Mars surface system are thus iterated with the derstanding of the science of Mars in terms of life, Flight and Surface Architecture Team as well as the climate, geology, and geophysics, and provide answers HEM-SAG to develop a most robust human explora- to scientific questions that cannot be answered by ro- tion program. botic missions alone. The scientific exploration of HEM-SAG Assumptions: The HEM-SAG is Mars should not be driven wholly by engineering con- conducting its work based on several assumptions. siderations; as such, limitations on human exploration HEM-SAG assumes 1) three crewed missions to the access due to altitude, illumination conditions, etc. martian surface, 2) the earliest human landing is 2030, should be considered in combination with scientific 3) the scientific objectives for the first human mission goals and the human activities required to achieve to Mars will be set on cumulative knowledge and pri- these goals. orities as of about 5-8 years before launch, 4) a pro- Length of Stay and Number of Sites. The HEM- gram of robotic missions to Mars will occur between SAG recommends a long stay (500 days) and visits to now and the first human mission and thus at the time multiple separate sites to maximize science potential. of the first human mission, our present knowledge of This scenario provides the highest science yield which Mars will be incremented by the results of these ro- requires diversity in both time and space for optimiza- botic missions. tion. The long stay reflects the large amount of work Tasks: The HEM-SAG has been chartered with to be performed by humans and robots at each inde- completing the following tasks: 1) Develop a projec- pendent site, including adequate time for highly in- tion of the content of the pre-human Mars robotic pro- formed sampling, in situ sample reconnaissance, sub- gram, 2) Analyze the probable/possible evolution of surface access, and operation of supporting robotic our scientific goals and objectives for Mars up to the assistance. It also allows time for maximum utilization time of launch of the human mission in the context of of mobility to investigate Mars using well-established the current MEPAG Goals Document, 3) Analyze the field methods already validated on the Earth and attributes of scientific objectives that would make them Moon. The scientific requirement for three unique appropriate for human explorers, 4) Analyze the op- human exploration sites reflects the well-established tions and priorities for program-level scientific goals diversity of geological features (and related process and objectives, 5) Analyze the scientific options for histories) on the surface and subsurface of Mars re- individual missions within the mission assumed pro- flecting events from the three primary geological peri- gram, 6) Conduct trade studies for key parameters af- ods of Mars: Noachian, Hesperian, and Amazonian. fecting the human mission architecture such as length The second most favored scenario is the short stay (40 of stay and number of sites visited by the human mis- days) at multiple sites followed by the long stay at one sions. 2007 LEAG Workshop on Enabling Exploration 3018.pdf
individual site for each mission. The least favored mass available for science, 6) assessment of planetary scenario is the short stay at one site. protection protocols likely to be faced in return of Sampling Diversity. Sampling diversity of Mars is Mars samples to Earth on HEM missions, 7) develop- a key variable for human scientific exploration. The ment of several Human Surface Reference Missions projected state of understanding of Mars suggests the (HSRM) to provide detailed activities, instrumentation, highest priority unknowns will likely remained unan- and traverse maps for HEM missions, 8) compilation swered until the time of human exploration. Therefore of a comprehensive listing of all relevant HEM sci- human exploration favors multiple, independent sites ence objectives, 9) evaluation of the effectiveness of in order to adequately investigate the Mars “system” in multiple surface mission architectures proposed by the both space and time as well as to understand the chro- Mars Architecture Working Group and suggestion of nology. additional options as needed to achieve scientific ob- Mobility. Mobility is an essential capability of any jectives. science-optimized human mission to Mars. HEM- The HEM-SAG continues to work such issues re- SAG concludes that beyond-Apollo-class mobility on lated to the human exploration of Mars and looks for- the surface of Mars is key to achieving the prioritized ward to sharing the results of this progress with the scientific goals and objectives of human exploration. community. Case studies conducted by the HEM-SAG suggest that radial mobility on the order of 100-200 km (minimum) is most desirable. Interdisciplinary Studies. Human exploration of Mars must optimize scientific objectives and investiga- tion priorities across all major MEPAG Goal areas (Life, Climate, Geology) with an emphasis on interdis- ciplinary objectives. Many of these studies require sample return to Earth. Supporting instrumentation/equipment. The HEM- SAG has identified the supporting instrumentation and equipment required to achieve the scientific objectives of HEM. Instrumentation required in a laboratory at the Habitat as well as on field rovers has been identi- fied. As an example, subsurface drilling capability to a depth of several hundred meters is an important tech- nology that needs to be developed prior to HEM be- cause of its significance to multiple science priorities. Public Engagement. The public, in particular the student population, must be completely engaged in the scientific exploration of Mars. The HEM-SAG be- lieves this will not be a difficult task due to the excite- ment and interest in exploring new worlds. Future Work: The HEM-SAG study is a work-in- progress and analysis continues to address several ad- ditional issues. These issues include, but are not lim- ited to, 1) tradeoffs between using pressurized rovers versus unpressurized rovers and the various capabili- ties of each asset, 2) quantifying the level of robotic assistance (and related suborbital sample acquisition and transfer to the human flight systems) for key sci- ence activities, 3) projecting 15-20 years ahead to quantify the level of in situ instrumentation required to support HEM missions, 4) outlining specific experi- ments and investigations to be conducted both inside and outside the Habitat while also providing estimated mass and volume requirements for each case, 5) poten- tial mass fraction of long surface stay mission down- 2007 LEAG Workshop on Enabling Exploration 3019.pdf
Executive Summary
Date Prepared: August 17, 2007
Presenter’s Name: Dr Pete Worden Presenter’s Title: Director Presenter’s Organization/Company: NASA Ames Research Center
Presentation Title
Small Spacecraft in support of the Lunar Exploration Program
Key Ideas
This paper analyses the ability of small, low cost spacecraft to deliver scientifically and technically useful payloads to lunar orbit and the lunar surface, in particular precursor mapping, infrastructure and in-situ resource utilization functions, that are necessary prior to human return as part of the Vision for Space Exploration
Supporting Information
This paper is based upon a technical study of the NASA-Ames Research Center’s Small Spacecraft. Following an overview of the generalized capabilities of small spacecraft in comparison to the objectives of the robotic lunar exploration program, the paper documents the mission planning and overall spacecraft design for lunar missions. The study shows that spacecraft subject to the constraints laid out, within a budget of < $100 Million and which can be launched on one of the next generation affordable launch vehicles such as Falcon-1 or Minotaur- V, can deliver payloads of 5-50 kg to the lunar surface or 10-200 kg payload to lunar orbit. The payloads carried would be capable of covering most of the functions of lunar missions that are needed prior to human arrival, as identified in NASA’s Lunar Robotic Architecture Study, with the exception of the bulk ISRU tasks of the ‘Lander Rover’ (In-situ Resource Utilization (ISRU)) mission. The key advantages of smaller spacecraft are reduced cost and schedule. These missions include Laser Communications demonstration, validation of frozen orbits, high altitude dust measurements, high resolution neutron spectrometer measurements, precision landing, dust characterization, lighting and thermal ground truth at different locations, regolith composition and thickness and radiation shielding characteristics, small ISRU demonstrators, effects of lunar environment on life and mechanical structures, lunar astronomy, micro rover demonstrations
2007 LEAG Workshop on Enabling Exploration 3020.pdf
LCROSS Science Payload Ground Development, Test and Calibration Results. K. Ennico,1 A. Colaprete,1 D. Wooden,1 J. Heldmann,1 D. Lynch,1 G. Kojima,1 M. Shirley.1 1NASA Ames Research Center, Moffett Field, CA, 94035, [email protected].
Introduction: The LCROSS (Lunar Crater Obser- tions, a custom-built highly sensitive total luminance vation and Sensing Satellite) is a lunar impactor mis- photometer, a UV-visible spectrometer (260-650 nm) sion designed to target and impact a permanently provided by Ocean Optics, and two compact low- shadowed region at a lunar polar latitude to create and power near infrared spectrometers (1.2-2.4 micron) measure the characteristics of an ejecta cloud of rego- built by Polychromix. The three spectrometers are lith and possibly ice and water vapor [1]. The connected via fiber optics to specially designed fore- LCROSS mission is co-manifested with the Lunar Re- optics provided by Aurora Design & Technology. connaissance Orbiter (LRO) whose six science instru- These nine instruments are powered and controlled by ments will survey the Moon to prepare for and support a Data Handling Unit (DHU) provided by Ecliptic En- future human exploration of the Moon [2]. LRO and terprises. The DHU is interfaced with the space- LCROSS are scheduled to be launched in October vehicle command and data handling and power sys- 2008. tems. Thermal control of the science payload is pro- There are nine unique instruments that compose the vided using heaters and thermostats. LCROSS science payload. Their industry and labora- The instrument specifications were designed to tory development, flight unit testing and calibration are provide direct or indirect measurements of the total summarized in this paper. water content of the ejecta created by the initial impac- The LCROSS mission is managed by NASA Ames tor (the upper stage of the Atlas launch vehicle), as Research Center (ARC) with industry partner Northrop well as ancillary information about the ejecta mineral- Grumman. LCROSS is a NASA Class-D mission. ogy and the impact event. The payload itself becomes LCROSS Science Payload Design: The LCROSS a second impactor, four minutes later. Both impact payload consists of nine science instruments, their events are expected to be viewable by ground, Earth- supporting electrical, mechanical and optical harnesses orbit, and lunar-orbit assets, providing additional in- and a central data handling unit assembled onto one of formation at other wavelengths and/or timescales [3]. six radiator panels on the LCROSS space vehicle as LCROSS Science Payload Testing: As many shown in Figure 1. units of the LCROSS science payload are COTS (Commercial Off-the-Shelf) or modified-COTS, the LCROSS payload test program stressed early verifica- tion testing of Engineering Test/Development Units (ETU/EDUs) which, for the most part are identical in form and function to the vendor-proposed flight ver- sion. These ETU tests were primarily development tests in the process to bring “COTS-like to flight.” De- velopment tests were shared between NASA/ARC and the vendors to alleviate schedule burden and promote rapid turn-around for flight unit development. This proved to a be a successful paradigm to increase the robustness of this Class-D payload over the course of a few months. The flight science instruments are tested for func-
Figure 1. The LCROSS Science Payload is located tionality and performance at both the unit and assem- on a single panel on the LCROSS space vehicle. bly level, the latter which is more representative of “test-as-you-fly” approach. Panel level testing is pres- The nine science instruments are a visible wave- ently underway at NASA Ames Research Center as length context imager provided by Ecliptic Enterprises shown in Figure 2. After flight environmental accep- Corporation, two near-infrared (1.0-1.4 micron/ 1.0-1.7 tance testing, the payload is delivered to the spacecraft micron) cameras from Goodrich Sensors Unlimited, provider, Northrop Grumman, for integration at the one mid-infrared (6-9 micron) thermal imager from space vehicle. Testing at the space vehicle level con- Thermoteknix Systems, Ltd., one mid-infrared (6-17 tinues until the space vehicle is ready for transport to micron) camera from FLIR Systems/Indigo Opera- 2007 LEAG Workshop on Enabling Exploration 3020.pdf
Cape Canaveral for integration with the LRO in the fairing of the Atlas Centaur.
Figure 2. Complete flight LCROSS Payload on space vehicle radiator panel under test in clean room at NASA Ames Research Center.
LCROSS Science Payload Calibration Status: The calibration plan for the LCROSS science payload is a multi-faceted approach relying on 1) vendor- provided specifications, 2) in-situ radiometric and per- formance characterization at the NASA Ames Re- search Center Calibration Laboratory facilities, and 3) in-orbit calibrations. The flight spectrometers and total luminance pho- tometer have been radiometrically, spectrally, ther- mally, and temporally calibrated. This data provides a benchmark to compare against future in-orbit calibra- tion checks. The flight cameras are being tested for image quality, responsivity and co-alignment. This paper will summarize the current ground calibration of these instruments in the context of the overall LCROSS test program. The 3-4 month cruise phase of the LCROSS mis- sion profile will provide a number of opportunities to obtain instrument health, performance, alignment and contamination checks, before the final descent. In par- ticular, a lunar swing-by is planned at launch + 5 days, by which the science instruments are pointed at several places along the lunar surface and measurements along lunar limb. Additional earth and space looks are part of the in-orbit calibration plan.
References: [1] Colaprete, A., Briggs, G. et al. These proceedings. [2] Chin, G. (2007) Space Sci Re- view, in press. [3] Heldmann, J., Colaprete A. et al. These proceedings. 2007 LEAG Workshop on Enabling Exploration 3023.pdf
FLASH LIDAR SYSTEMS FOR HAZARD DETECTION, SURFACE NAVIGATION AND AUTONOMOUS RENDEZVOUS AND DOCKING. J.D. Weinberg ([email protected]), R. Craig ([email protected]), P. Earhart ([email protected]), I. Gravseth ([email protected]), K.L. Miller ([email protected]), Ball Aerospace & Technologies Corp., PO Box 1062, Boulder, CO 80306-1062.
This poster will present the results of the Ball Design Heritage: Ball Aerospace has developed a Aerospace 3D flash LIDAR field tests, including those highly capable, mature, multi-mission 3D flash LIDAR performed at three different NASA centers. It will also system for Lunar Exploration and other space-based provide multi-mission application information and applications. The unit leverages technology from our secenarios for use in Lunar Science, Exploration and proven long-life space-based LASER systems. The base- Resource Prospecting. line LASER, optics and key electronics are all currently in operation on a classified space mission. The LASER Background: Three dimensional flash LIDAR is an itself draws directly from our development of the asso- enabling technology for Lunar Science, Exploration ciated LIDAR LASER aboard the NASA CALIPSO mission. and Resource Prospecting. For in space and on orbit rendezvous, the powerful flash LIDAR LASER pulse can be used to acquire and range targets from a distance of Principal Specifications up to 10-20 km. For docking applications, flash LIDAR Weight: 7.72 kg (17.02 lbs) provides real-time three dimensional video of the tar- Power: 30 Watts average (at max get spacecraft under any lighting conditions. This pro- data rate) vides six degree of freedom pose as well as velocity Dimension: 11” x 5” x 5.9” and spin rate data. Inclusion of a flash LIDAR system FOV Options: 12° (nominal) also allows for redundant video guidance capabilities. Data Rate: 1-30Hz real-time (x,y,z, In- Landing applications for flash LIDAR include use as a tensity, quality) supplement or replacement to conventional RADAR Range Precision: 3 cm (rms) altimeters, providing ranging and velocimetry from 10- 20 km above the surface. Additonally, flash LIDAR Unique Features systems are well suited for use in hazard detection, Single low precision mechanism maintains image offering three dimensional object and terrain mapping. focus and optimal dynamic range and laser diver- The real-time nature of the system provides data at 10 gence control to 100 times the rate of conventional scanning systems, TRL of Components enabling active hazard avoidance navigation. There- fore, flash LIDAR offers higher spatial resolution per Modified Star-Tracker Optics: TRL 7/8 unit time, allowing more detailed terrain information. Existing Level III qualified Laser: TRL 9 Lastly, flash LIDAR systems offer an attractive solution 30 Hz real-time 3D processor (FPGA): TRL 8/9 for surface navigation and terrain mapping. These APD Detector Assembly: TRL 5 systems have the advantage that they may be used suc- 3U Support Electronics (heritage): TRL 7 cessfully under any lighting conditions – as a means to Options acquire a 3D topographic site survey, or as a sensor for real-time autonomous rover navigation and hazard Visible Camera for High Resolution 2D images detection. and/or Star-tracking FSM for Long Range Target Acquisition
Field Testing: In addition to extensive in-house Received Light Cone testing, the Ball Aerospace 3D flash LIDAR system has been field tested at three different NASA centers. At the Marshall Space Flight Center (MSFC), Ball and NASA engineers performed two successful proximity opera-
Laser tions and docking tests. The Ball LIDAR was the only
Active system tested to provide real-time data and pose esti- Illumination Cone mation under all lighting conditions. The system also has been tested successfully in Hazard Detection for Ball’s flash LIDAR is a flexible platform that supports Landing, using a laboratory developed specifically for multiple missions including docking, landing, hazard avoidance and surface navigation 2007 LEAG Workshop on Enabling Exploration 3023.pdf
this type of sensor characterization at NASA’S Langley Research Center (LaRC). Ball’s flash LIDAR is the first and only sensor that has been tested at this facility to date. Lastly, Surface Navigation capabiities were tested at NASA’S Ames Research Center (ARC). Both indoor hazards as well as outside longer range imaging was performed. The Ball flash lidar system performed extremely well during all three multiple mission ap- plication field tests.
MSFC Flight Robotics Laboratory
1.5 m
NASA Langley Research Center
NASA Ames Research Center 2007 LEAG Workshop on Enabling Exploration 3024.pdf
THE IDEA OF A STUDENT BUILT LUNAR ORBITER. S. Tietz 1, [email protected].
Background: In the last decade a large variety of cubesats and nanosatellites are usually too power and student built satellites has been developed, launched volume restricted to perform scientific missions. The and operated by students from all over the world. Most conclusive idea is therefore to focus on microsatellites projects started with a cubesat of just 10 by 10 by 10 which should be able to achieve science objectives. centimeters and a total mass of 1 kilogram. These Nevertheless, education would still be a primary goal picosatellites can be developed, built, launched and of such missions. But in contrast to earlier missions operated in a very short timeframe of around two years, additional scientific outcome will be provided. Doing which makes them a very valuable hands-on expericene science with student built spacecrafts would also open add-on for undergraduate and graduate courses in all the opportunity to include more students with scientific fields related to aerospace engineering. This background, like planetary sciences or astronomy. educational process can be further improved by a These students would have the chance to work on a collaboration of different courses or even different mission and possibly even provide an instrument, universities. which is usually not possible on professional science One example for the cooperation of a large number missions. The general philosophy is that engineering of universities is the the European Student Space students would develop, build and operate a spacecraft Exploration and Technology Initiative (SSETI) [1], to achieve scientific objectives outlined by the which was initiated by the Education Office of the scientific student community. European Space Agency (ESA) in fall 2000. The idea The Project: Following the notions mentioned of SSETI is to create a network of students being above, the project should be entirely run by students. In capable to develop, launch and operate a student build the beginning a group of students from different microsatellite. The first SSETI mission called SSETI universities, probably supported by their professors, Express was designed to be a technology will discuss the primary goal of the project. Such demonstration and in-orbit test bed for hardware to be discussions could, for example, result in a decision to used on later more sophisticated SSETI missions like build a spacecraft as a technology testbed for Low the European Student Earth Orbiter (ESEO) or the Earth Orbit (LEO) or to launch several cubesats. European Student Moon Orbiter (ESMO). The 60 Another idea for a more science driven student mission kilogram SSETI Express microsatellite was launched could be a lunar orbiter developed, built, launched and on October 25 th 2005 from Plesetzt (Russia) only 21 operated by students with science experiments months after the project kick-off in January 2004. provided by students, universities or other educational Most of these student built satellites are considered institutions. This would be a very interesting to be educational projects and are rather doing opportunity of student contribution to the current technology demonstration than producing scientific NASA plans for the return to the Moon and the large outcome. Their impact on other missions is therefore interest of the science community for lunar missions. It usually restricted to further missions at the same would also encourage students, because they would be university. Nevertheless, the overall technology level part of a real space endeavor instead of providing only of student built satellites increased rapidly since the an in-orbit technology testbed. Furthermore, both first cubesats at the end of the 1990s. Inspired by the engineering and science students would have the “It’s the mission that matters” slogan of this years opportunity to work together in a close cooperation. Small Satellite Conference [2] in Logan, UT and a This partnership and their hands-on experience over presentation of the National Aeronautics and Space the whole project life cycle would make them a well Administration (NASA) about the idea of an American trained workforce for companies and other institutions Student Moon Orbiter [3], a group of students from working on future missions. different universities discussed the idea of starting a After defining the primary goals, the students will microsatellite project similar to SSETI in the the have to define management and project structure United States, but with a more mission driven according to these goals. This includes the selection of approach. the project management, its responsibilities, the team Idea: Nearly ten years after the first student built and subsystem selection process, etc. A small group of satellites, these missions conduct only technology experienced students from different universities could demonstrations which seems to be a rather then conduct a first feasibilty study, which should unsatisfactory approach. The reason these missions result in a set of preliminary requirements and a have been limited to technology demonstrations is that guideline of how to reach the primary goals. It is highly 2007 LEAG Workshop on Enabling Exploration 3024.pdf
recommended to include a number of science related The Spacecraft: As explained earlier in this students in this early process in order to facilitate a abstract, the spacecraft should be developed, built, more science driven approach. launched and operated entirely by students. This results Later the project management is appointed and an in a number of constraints for the design of the announcement for the student community is prepared, spacecraft. One constraint is that the mission must be which should result in a number of teams interested in low cost. This is possible using subsystems which have joining the project and the ideas of their contribution. already been developed in the last couple of years for Based on this information the teams for the different previous cubesat and nanosatellite missions of the subsystems and tasks can be selected. The details of student community. On the other hand, a higher this selection process should be defined by the initial amount of redundancy and testing is required to ensure group of students, but considering the overall project the reliability. Another important concern is safety goals. The final large group of students then starts to which may drive mission design considerations. For define the mission objectives, requirements and example, propulsion systems using toxic fuels should schedule for the project. It is very important for the be avoided due to safety concerns. Finally, one of the ongoing motivation of the students to avoid biggest conctraints is the launch of the satellite as a unnecessary work, because they have to contribute to secondary payload. Since the actual launcher will be this project in addition to their studies at the university. determined rather late in the project, a variety of The project management should therefore try to secondary payload standards like ASAP5 and ESPA implement a streamlined workflow, for example by should be supported. This would result in overall excluding documentation which is not necessary for dimensions of approximately 0.7 by 0.6 by 1.0 meters reaching the primary project goals. and approximately 180 kilogram total mass for ESPA. In this paper, only the idea of science driven The detailed design of the spacecraft will start as soon student lunar mission is presented because the project as the mission and requirements are further specified. started only six weeks prior to this workshop and is Conclusion: Inspired by their experience in still in the first phase of the process described above. building and operating spacecrafts in the last decade The following information should therefore considered and the Small Satellite Conference this year, a group of to be only one concept, which may not reflect the final students expressed their interest in taking the next step concept. towards a science driven space mission. They are Mission Description: The preliminary mission currently trying to define this step and a project to design could be very similar to the other microsatellite achieve it. Some preliminary ideas have been mission to the Moon. After being launched as a expressed in this abstract and will be further analyzed secondary payload into a highly elliptical, low in the future. One part of this process is to find inclination Geostationary Transfer Orbit (GTO) and interested partners from government, academia and finishing the in-orbit verification, the spacecraft would industry to achieve the mission goals. Their use its onboard propulsion system for Trans Lunar contribution and influence need to be discussed in the Injection (TLI) and Lunar Orbit Insertion (LOI) before future, but ultimately this mission should still be a it reaches its final orbit around the Moon. To reduce student project. the amount of propellant needed for maintaining the References: [1] Website of the Student Space orbit, a stable elliptical polar orbit might be the better Exploration and Technology Initiative option than a circular Low Lunar Orbit (LLO). This http://www.sseti.net . [2] Website of the Small Satellite would also decrease the amount of delta v needed to Conference http://www.smallsat.org . [3] Clearwater, reach the final orbit. Y. et al. (2007) SSC07-XI-9. Over the next couple of months, different options for the transfer to the Moon (using either chemical or electrical propulsion) and different final orbits will be analyzed before the final decisions will be made. Furthermore, the interests of the science student community need to be considered as well, because their scientific goals and objectives are the purpose of the mission. The overall mission duration varies depending on the transfer time to the Moon, but it is desired to provide at least enough lifetime at the final orbit around the Moon to conduct all science experiments. 2007 LEAG Workshop on Enabling Exploration 3025.pdf
ROCKET DISPERSED INSTRUMENTS: A MISSION ARCHITECTURE FOR EXPLORING LUNAR POLAR HYDROGEN. I. Garrick-Bethell1, J. J. West2, D. J. Lawrence3, and R. C. Elphic3, 1Department of Earth, Atmospheric and Planetary Sciences, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA, 02139, [email protected], 2The Charles Stark Draper Laboratory, 555 Technology Square, Cambridge, MA 02139, [email protected], 3Los Alamos National Laboratory, Los Alamos, NM, 87545.
Introduction: The distribution of lunar hydrogen The probes transmit their data via an is not known at a resolution better than 30-45 km [1]. omnidirectional antenna directly to the Earth, or to the If the neutron spectrometer on the 2008 Lunar launcher, which relays the data to Earth. Since the Reconnaissance Orbiter (LRO) achieves its maximum probes have very short lifetime requirements, and the potential, the resulting hydrogen abundance map will lunar soil is a poor thermal conductor, the low soil have a resolution of ~10 km at the poles (Fig. 1) [2]. temperature (40-100° K) is not a significant challenge. When combined with other LRO data, such as crater The probes can be accurately targeted to obtain morphology, area of permanent shade, and multiple measurements within 100 m, meeting the temperature, substantial improvements will be made in requirement to map out concentrated areas for further understanding the distribution and abundance of polar scientific study and potential resource utilization. volatiles. However, even with these orbital measurements, significant uncertainties will likely remain regarding the form of the hydrogen (e.g. water, solar wind hydrogen, or other) and its fine scale spatial distribution (100-2000 m). Without such knowledge it is possible that a future human mission may encounter hydrogen in a form not amenable to utilization, or that the landing site chosen is too distant from significant quantities of hydrogen. Therefore, it will be essential to perform in situ mapping and characterization of polar hydrogen before any human mission that wishes to exploit or study it in detail. After an initial site characterization, our proposed architecture can be used indefinitely for follow up mapping studies by humans on the surface. RDI concept: Our new robotic mission concept is known as Rocket Dispersed Instruments (RDI) and was originally presented in reference [3]. The concept
was also presented to Goddard Space Flight Center in Figure 1: The RDI architecture at Shackleton crater. 2005. Here we demonstrate how this mission architecture has lower risk and cost than other robotic Payload: At least two instruments are required on mission architectures. every probe. The first is a neutron spectrometer to Example mission. Our example mission calls for determine the quantity of hydrogen 1-2 meters below studying hydrogen in the permanently shadowed the probe, and compare count rates to those derived 10-km-radius Shackleton crater on the lunar south from orbit. Los Alamos National Laboratory has built pole. Shackleton crarter is a destination that NASA and successfully tested such instruments up to 1800g has tentatively selected for human missions, and we in earth-based penetrator tests. The entire assume that LRO shows at least a hint of hydrogen spectrometer has a mass of 517 g, draws 2.25 W, and within several kilometers of the proposed human can be packaged in a variety of configurations. The landing site (Fig. 1). second instrument acquires a small soil sample, heats A fixed lander is first delivered to the rim of it, and detects evolved gases to test for water. A Shackleton crater. From the lander, 10-20 rocket similar instrument flew on the unsuccessful Deep powered probes of ~8 kg each are launched into the Space 2 (DS2) Mars penetrators and could be used crater interior, achieving ranges from 0.1 to 10 km. again here. These missile-shaped probes make a hard landing at Communications: Line of sight radio ~125 m/s and are instrumented to characterize the communication between the probe and the launcher on subsurface hydrogen abundance within a meter of the a high rim is not difficult, since at a 10 km range impact site, within ~24 hours. (Shackleton’s radius) only ~35 meters of elevation is 2007 LEAG Workshop on Enabling Exploration 3025.pdf
required for horizon visibility. The lunar regolith is the same power and communication problems as a rather transparent to radio waves, such that if the unit rover. A hopper would also swamp the landing area lands in a shallow, relatively dry crater, its with contaminating hydrogen compounds if hydrazine transmissions will penetrate a few meters with only propellant were used. modest attenuation. In addition, high-resolution Other advantages: Penetration. The kinetic topography data from LRO can be used to avoid deep energy of the RDI projectiles allows for a modest craters if the risk is deemed sufficiently high. Finally, amount of penetration into the regolith. This can some areas of Shackleton may have direct line of sight facilitate access to subsurface soil. communication with Earth. The data rates for neutron Human landing site characterization. A fixed spectrometers and water detectors are very low. lander at the rim of Shackleton crater could provide Power: Peak power requirements are driven mainly high-resolution images of the area during landing. by the propulsion system, which can at times require While LRO image and topography data will probably 23 W. A low continuous draw of current is also be sufficient to plan a human landing, the data required for keeping the probe warm after impact. provided by a lander would be supportive and useful. Primary lithium sulfur dioxide batteries can provide Continuous use by humans. If the launcher is built the requisite power with a mass of 240 g. with sufficient modularity and robustness, humans Advantages over rovers: There is substantial may eventually visit and reload it with more projectiles technical risk and cost associated with operating a to study new areas of Shackleton without the need to rover in a cryogenic environment in complete rove or walk to distant locations. darkness. The lack of light makes driving difficult, RDI cost: Total cost estimates at this level of and reaching a number of distant locations comparable maturity and for this type of mission are difficult. to that achieved by the RDI concept would require a Nonetheless, we estimate that 12 probes and a lander high total mission lifetime and cost. In addition, will cost $480 million, including launch. This estimate unless a communication relay is employed at the rim is based on the cost of past missions, including DS2. of the crater or elsewhere, communications would be Work to date: We have invested several hundred limited to locations where the Earth is in direct view. hours in trade studies, design details, and mass If nuclear power is used the cost of the rover could be estimates. The propulsion, communication, and power on the scale of the nuclear powered Mars Science subsystems have matured to selection of COTS Laboratory rover, approximately $1.5 billion. Lastly, a components. One of the most subtle, yet significant precursor rover mission may be overkill, since human challenges of the RDI concept is assuring that the campaigns will eventually perform more thorough probe lands with its nose pointing into the regolith. investigations using drills and excavators. Since there is no atmospheric drag to reorient the Advantages over orbit-deployed penetrators: probe during flight, the probe will impact the surface Previous studies have proposed launching with whatever orientation it had when launched. We instrumented penetrators from an orbiting spacecraft. have identified two realizable techniques to solve this This architecture has never been successfully realized. problem. We note that Draper Laboratory has Significant technical hurdles include very high impact extensive experience with impact hardened electronics velocities, dynamics and control, and difficulty in high (e.g. in artillery shells with accelerations over accuracy targeting. Japan recently canceled a similar 10,000g), novel guidance and control problems, and mission due to technical problems. In contrast, NASA microelectromechanical systems. knows how to deliver a fixed lander to the Moon and Conclusion and recommendation: The RDI how to accurately launch projectiles from the ground, architecture can provide fine scale polar hydrogen data as required for RDI. The impact velocities of the over an extended range. These data are required for 10 km range RDI probes are significantly lower than planning detailed human study. The RDI architecture those of the DS2 and Japanese penetrators, and can be has the potential for reuse of hardware and incurs reduced arbitrarily without technical constraint. significantly lower cost and risk than all other Advantages over “hoppers”: A heavily architectures that have been considered. The RDI instrumented hopping lander has been proposed to architecture deserves further study and open discussion jump between multiple locations within a permanently within the lunar science and engineering communities. shadowed crater. This architecture suffers large risk References: [1] D. J. Lawrence, et al. (2006) JGR due to repetitive soft-landings, which has always been 111, E08001, doi:10.1029/2005JE002637. [2] A. B., the most risky part of robotic surface exploration. In Sanin, et al., LPSC 38th (2007) #1648. [3] Garrick- addition, the vehicle would be unlikely to cover as Bethell, I. (2005) Acta Astronautica 57, 722-732. wide an area as the RDI architecture, and suffers from 2007 LEAG Workshop on Enabling Exploration 3026.pdf
Executive Summary
Date Prepared: August 15, 2007
Presenter’s Name: Manny Pimenta Presenter’s Title: President & Founder Presenter’s Organization/Company: Lunar Explorer, LLC
Making The Moon Accessible to Everyone
Key Ideas
Lunar Explorer is committed to doing whatever is in our power to help bring about the long overdue birth of a true Space Faring Civilization. We will do this primarily through creating personal experiences of Space accessible to every living man, woman and child and sharing a bold and hopeful vision of the future that is within reach. Our message is that Space Settlement is the greatest adventure in all of Human history; that Space Settlement holds the keys to our Survival and our Prosperity; and that each and every person has the capacity to participate and to contribute significantly to making it happen in this generation. We will inform, educate, inspire and motivate people into taking action
Supporting Information
We have taken the best available NASA data on Lunar topography (from the 1994 Clementine mission) and created the most complete, accurate and realistic model of the Moon possible. It’s the first time this has ever been done. You will get to see the Moon in a way that only the astronauts who have been there have ever seen it before.
Our intention is to continue to perfect the simulation until it is visually indistinguishable from actually being there. We also want to use Lunar Explorer to promote a bold and inspiring vision of near future Space Settlement by creating an interactive simulation of the first large scale permanent Lunar settlement on Malapert Moutain, near the Moon’s South Pole.
2007 LEAG Workshop on Enabling Exploration 3027.pdf
Planetary Protection And Implications For Lunar Mission Planning: Science, Technology, And Feed-Forward To Mars Cassie Conley, NASA HQ, Washington, DC; Margaret Race, SETI Institute
Abstract: In planning future exploration and permanent presence on the Moon, it will be important to consider planetary protection in the discussions from the early stages, even though current policies and regulations do not impose specific planetary protection controls for missions to the Moon. At the very least, integrating controls and monitoring to avoid cross contamination will be critical for science related activities on the Moon. Developing technologies and protocols to monitor human health effects potentially caused by exposure to lunar materials (such as dust) will also be key. Consideration of planetary protection issues using the Moon as a test-bed will be important for developing diverse technologies enabling future long duration planetary missions to protected bodies such as Mars. To reduce overall mission risks and costs it will be important to avoid pursuing multiple distinct and expensive technology pathways—one for the Moon and another for Mars or other bodies.
A number of recent workshops and studies have analyzed in detail the ways that planetary protection controls and concerns are likely to impact long duration missions and exploration activities. Among the important technologies and issues that have been targeted for further work include life support systems, both within habitats and during EVAs; environmental monitoring and control; sample containment and curation; development of protocols to ensure cleanliness during collection and testing; investigations of the nature and amount of cross contamination between inside and outside environments during routine activities and sampling/exploration; waste handling and disposal during and after human presence and mission completion; spacesuit and hardware cleaning and repair during the missions; and human factors that might interfere with implementation of planetary protection protocols or proper science methods.
In addition to considering the design and science implications of these issues, it will also be important to communicate to the public about planetary protection as part of human exploration. Addressing anticipated contamination avoidance questions for both the Moon and Mars will be essential for maintaining public understanding and support for the missions—particularly since they are subject to distinctly different controls based on current planetary protection policy..
Particular workshops and references that provide more information on these planetary protection- related R&D needs include:
Beaty, D.W., et al. (2005). An Analysis of the Precursor Measurements of Mars Needed to Reduce the Risk of the First Human Missions to Mars. Unpublished white paper, 77 p, posted June, 2005 by the Mars Exploration Program Analysis Group (MEPAG) at http://mepag.jpl.nasa.gov/reports/index.html.
Criswell, M.E., et al. 2005. Planetary Protection Issues in the Human Exploration of Mars, Final Report May 9, 2005 (workshop held June 2001), NASA, Ames Research Center, Moffett Field CA , NASA/CP – 2005-213461
Hogan, J.A. et al., 2006. Life Support and Habitation and Planetary Protection Workshop Final Report, NASA, Ames Research Center, Moffett Field CA , NASA/TM- 2006-213485
2007 LEAG Workshop on Enabling Exploration 3027.pdf
Hogan, J.A., et al. 2005. Influence of Planetary Protection Guidelines on Waste Management Operations, paper 05ICES266, International Conference on Environmental Systems, Rome Italy, July 2005 (Paper No. 2005-01-3097 in Journal of Aerospace, SAE 2005 Transactions, March 2006)
Hogan J.A. et al., 2007. Results Summary of the LIfe Support and Habitation and PP Workshop, Paper No.2006-01-2007. SAE 2006, Transactions of Journal of Aerospace, March 2007
Race, M.S. et al., 2007. Planetary Protection and Humans on Mars: NASA/ESA Workshop Results, (Report of the 2005 workshop in preparation; also, a summary article currently under review in Advances in Space Research, 2007. For more information contact: [email protected])
2007 LEAG Workshop on Enabling Exploration 3028.pdf
SPACEWARD BOUND: FIELD TRAINING FOR THE NEXT GENERATION OF SPACE EXPLORERS. C. P. McKay1, L. K. Coe2, M. Battler3, D. Bazar4, P. Boston5, L. Conrad4, B. Day4, L. Fletcher2, R. Green4, J. Heldmann2, T. Muscatello6, J. Rask2, H. Smith7, H. Sun8, R. Zubrin6 1Space Science Division, NASA Ames Research Center Moffett Field, CA 94035, [email protected], 2NASA Ames Research Center Moffett Field, CA 94035, 3Univeristy of New Brunswick, Saint John, NB Canada E2L 4L5, 4Planners Collaborative, NASA Ames Research Center, Moffett Field, CA 94035, 5New Mexico Institute of Mining and Technology, Socorro, NM 87801, 6Mars Society, Lakewood, CO 80215, 7Utah State University, Logan, UT 84341, 8Desert Research Institute, Las Vegas NV 89119.
Introduction: Spaceward Bound is an educational activities would be performed on the Moon or Mars, program organized at NASA Ames in partnership with how research here on Earth could assist the The Mars Society, and funded by the Exploration identification and analysis of research results from the Systems Mission Directorate (ESMD) at NASA Moon/Mars, and what infra-structure was needed to Headquarters. The focus of Spaceward Bound is to support the research which will, in turn, need to be contribute to the training of the next generation of provided on the Moon/Mars surface. The technology space explorers by having students and teachers component was approached similarly. participate in the exploration of scientifically interesting but remote and extreme environments on Earth as analogs for human exploration of the Moon and Mars. 2006 was the first year of the program. Why Education: The generation of students who will become the first astronauts to return to the Moon (in 2018) and explore Mars are currently in middle school. The senior managers and scientists that will plan and organize these missions are now in college and graduate school. In order to fulfill NASA's mission, these students need to learn about exploration science. This training consists of both STEM (science, math, engineering, and technology) education, as well as education that leads to the understanding of Figure 1. View of the University of Antofagasta exploration concepts and skills. In order to provide the Desert Field Station at Yungay Chile in the hyperarid latter, teachers must be trained not only in exploration core of the Atacama Desert. science content and skills, but also pedagogy and pedagogical content knowledge. The Spaceward Education activities were guided by the motivation Bound program targets traditionally underserved and to train teachers to inspire students to be the next underrepresented communities by recruiting teacher generation of explorers. While exploration is often participants from the NASA Explorer Schools Program presented in classrooms as a motivational supplement that selects schools from these same populations (see: to existing curriculum, and components of exploration http://quest.nasa.gov/projects/spacewardbound). are taught, no pedagogy of exploration itself exists. Fieldwork in the Atacama: The program is A true pedagogy of exploration would provide comprised of two expeditions per year. The focus of unparalleled experience in affective and cognitive one expedition is to involve teachers in authentic motivations such as curiosity, discovery, bravery, fieldwork so that they can bring that experience back disappointment, tenacity, flexibility, etc. But it also to their classrooms and assist in the development of requires a synthesis of currently segregated academic curriculum related to human exploration of remote and disciplines, i.e. “hard” science, “soft” science, and extreme environments. In June 2006, seven middle non-science. In modern schools, curriculum and school teachers from around the U.S. teamed with pedagogy are ill-equipped to embrace this synthesis, seven teachers from Antofagasta, Chile to work and much less able to develop the content, concepts, alongside scientists in exploration of the Mars-like and skills to teach it. soils in the Atacama Desert in Northern Chile. In a broader sense, however, the contribution of This expedition was comprised of three this expedition to the education community as a whole components: 1) Education, 2) Science, 3) Technology. (including research) and to NASA is the creation of a The overarching theme that united the three program which enables the amalgamation of the components was exploration. Scientific activities were expertise and experience of Master teachers with the approached from the perspective of how similar knowledge, practice and experience of today's 2007 LEAG Workshop on Enabling Exploration 3028.pdf
explorers to begin the conceptualization and basic skills. development of a pedagogy of exploration. 3. "The Lovely Planet" Guide to Science and Field Analysis of the teacher's final reports (see web site) sites at MDRS. This will be a series of mini-reviews reveals how this new pedagogy may look. It also and orientations for each site or topic of research at the provides clear evidence of the intrinsic power of Hab, written at the Scientific American-level with I authentic exploration to motivate, engage, frustrate, ages, detailed maps, etc. Note that these three products and thrill. are being prepared by the students. See poster by the Mission Simulations at MDRS: The focus of the students at this session. second expedition was to enable students at the upper Future Expeditions: To expand the success of undergraduate and graduate level to participate as crew Spaceward Bound 2006, we plan to reach even more members in two-week long immersive full-scale students and teachers and continue developing the simulations of living and working on the Moon and approach and methodologies for the field training of Mars at the Mars Desert Research Station (MDRS), the next generation of space explorers and those who established and operated by The Mars Society. The are teaching them. The next expedition (for teachers) Spaceward Bound 2006 crew rotations at MDRS took in March/April 2007, will take place at the California place between November 2006 and March 2007. State University Desert Studies Center (CSUDSC) in Zzyzx, CA—on the western edge of the Mojave National Preserve in Southern California. Teachers will work with scientists and engineers to investigate lunar and planetary surface systems, e.g. extended surface operations, environmental analysis, robotics, radiation protection, spacesuits, and life support. They will also investigate human machine interface software and hardware. As a result of Spaceward Bound 2006, we will incorporate two new concepts into the design of the teacher portion of Spaceward Bound 2007. First, in partnership with San José State University we intend to recruit pre-service teachers and in-service teachers from the NASA Explorer Schools and Mojave area. Second, in partnership with the National Park Service, Figure 2. The Mars Society Desert Research we will recruit in-service teachers from the Mojave Station in the desert near Hanksville Utah. area and from NASA Explorer School teachers nationwide. We found during the Atacama Expedition The students were interested, enthusiastic, and came that collaboration between local and non-local teachers from a variety of schools and backgrounds. At the start was extremely beneficial. of each simulation, we held a meeting to discuss the In the fall of 2007, we will again sponsor shape and goals of the Spaceward Bound student Spaceward Bound Crew student simulations at the activities. The students were very excited by the fact MDRS. that they were defining and creating this training One of the keys to the success of Spaceward program through their simulations. Interacting with Bound's pilot year was the training of participants prior these students in the field was inspiring for the science to the field expedition via utilization of the NASA PI, as well as for the students. From these discussions Distance Learning Network (DLN) and webcasting. have emerged three particular products that will be We will continue this aspect of the program for all used to enhance Spaceward Bound student activities in expeditions. the future: Another key to success was the incorporation of a 1. The Habitat User Guide and Operations Manual. broadcast component into the program to significantly 2. Spaceward Bound Training Curriculum. There increase the quantity and quality of participation by are a range of skills that are essential for field teachers/students not on the expeditions. While the astronauts working on Mars or in Mars-analog field technical challenges involved in broadcasting from environments on Earth. These include working in Chile were significant, and only possible via bulky suits, mechanical skills, equipment repair, partnership with the NASA Robotics Alliance Project, biology and geology skills, greenhouse operations, both CSUDSC and MDRS already have the electronics, navigation, field documentation, ATV infrastructure to webcast from these locations. operation, etc. We have developed a training course for Spaceward Bound that will train every student in these 2007 LEAG Workshop on Enabling Exploration 3029.pdf
TECHNOLOGY AND TECHNIQUES FOR PALEOMAGNETIC STUDIES AT THE LUNAR POLES. I. Garrick-Bethell1 and B. P. Weiss1, 1Department of Earth, Atmospheric and Planetary Sciences, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA, 02139, [email protected].
Introduction: One of the great unresolved make the operation of a kilometer-scale drill questions in lunar science is the origin of remanent technically difficult. Except for some locations on the magnetization discovered in the lunar crust and Apollo lunar north pole, permanently shadowed crater floors samples. The planned return of crewed missions to do not usually abut sunlit areas. Therefore, deep crater the Moon and the establishment of a long-term base drilling at the poles may require moving the equipment will offer an unprecedented opportunity to advance our at least several kilometers from the base location. understanding of paleomagnetism on the Moon and If crewed missions are landed only at polar other solar system bodies. In a past white paper we locations, then it may be useful to drive to areas of described general scientific objectives for lunar mare basalt to sample bedrock. According to geologic magnetism studies [1]. Here we explore the scientific maps the mare units closest to the south pole are a possibilities offered by a base at the lunar poles and mare filled crater in the Australe basin (-76º, 86ºE), address the technological and strategic requirements and the mare filled crater Antoniadi in the South Pole- for realizing these possibilities. We conclude that Aitken (SPA) basin (-70º, 183ºE) [3]. The mare in paleomagnetic studies at a lunar pole would achieve Antoniadi is about 910 km away, and would probably the greatest results if the following capabilities were require about 1000 km of driving (distances to reach present: (1) Deep drilling and/or excavation down to mare units on the north pole are comparable). 100-1000 m, (2) Long-range roving up to 1000 km Pressurized rovers capable of reaching these distances from the lunar base, (3) Sample handling using have been proposed [e.g. 4]. If the rover were driven nonmagnetic tools and sample storage in magnetically continuously (perhaps by ground control) at an shielded environments. average speed of 10 km/hr, the trip would take about 4 1. Drilling and excavation. As recently days. While a journey of 1000 km would be an recommended by the National Research Council [2], enormous undertaking, there are many reasons why it oriented samples of undisturbed basalt flows or large may be worthwhile. In particular, a trip to Antoniadi impact crater melt sheets offer the best opportunity to would take astronauts over the outer rims of the SPA test if and when a dipolar lunar core dynamo was basin and into its interior. This would provide many operating on the Moon. Sampling intact crater melt opportunities to sample SPA materials, including the sheets could potentially be accomplished within any first basalts from the far side. Since the rover would multikilometer diameter crater, including those in have likely departed from a polar base, drilling permanent shadow. While this remains an important equipment used in the search for polar volatiles could objective, such a drilling operation would likely be used for bedrock drilling. The use of long range require depths on the order of 100-1000 m, and there is rovers also has technology development applications no guarantee that a single drill core will contain intact for future Mars exploration. melt sheet. In contrast, the complexity of the drilling Access to cold traps. Although a mare location is would be greatly reduced if conducted at mare ideal in many ways for obtaining bedrock, the cold locations, where bedrock is likely to be covered by temperatures of the permanently shadowed craters only tens of meters of regolith. These lower depths could provide some unique advantages for would permit faster drilling times and the collection of paleomagnetic studies. Most Apollo and Luna multiple cooriented cores. The chances of hitting samples have been exposed to temperatures up to consolidated bedrock are also increased by using 110º C at lunar noon, usually for millions of years. multiple cores. In addition, exposed bedrock is often This continual heating can destroy up to one half the present at mare locations and may be sampled without rock’s magnetic remanence. Surprisingly, even drilling [1]. Finally, many other scientific disciplines subsurface residence below the diurnal temperature would benefit from drills capable of collecting 10-30 meters of bedrock. wave (at about -20º C) can destroy some of the rock’s 2. Roving and site access. A polar base will likely remanence after billions of years. be as close as possible to permanently shadowed crater Lunar cold traps offer a unique opportunity to interiors. For example, NASA has identified the rim collect materials that formed and have remained at of Shackleton crater on the south pole as a possible cryogenic temperatures for up to 2 billion years. Such landing site. While close proximity to a large crater is samples would have retained nearly all of their original good for drilling, the cold interior temperatures will magnetization. One type of sample of particular interest in cold traps is glass that formed by small 2007 LEAG Workshop on Enabling Exploration 3029.pdf
impacts (1-4 m craters). Unlike rocks, which may Earth contamination: Even though most samples have complex heating histories, such glasses would will have been temporarily exposed to high fields have been kept at extremely low temperatures (40-100º while near the spacesuit, rover, or lunar habitat, once K) since formation. When sampled with proper field- on Earth it is still worthwhile to store all samples in free techniques these glasses could provide the most magnetically shielded rooms or containers. This is pristine record of impact-generated magnetic fields. because the acquisition of magnetic contamination is a Sampling such glasses would not strictly require a time-dependent process, and the longer the storage in rover, since they could be found within walking the Earth field, the greater the contamination. distance of the start of a permanently shadowed area. 3. Sample collection and handling. Most lunar rocks have remained in a low field environment since their formation. If these rocks are exposed to higher fields from a spacecraft or spacesuit, they will acquire a contaminating magnetic remanence. While this remanence is small, and is not believed to be a major factor in interpreting lunar magnetism, contaminating fields can be over 100 times the ambient lunar surface field. It would greatly benefit lunar paleomagnetism studies if a number of carefully selected samples could be brought to Earth completely free of contamination. Once back on Earth a subsample can be processed in a completely field-free environment, while the rest of the sample can be allocated for other studies. Fig. 1: Astronaut using a scoop near the Apollo 17 Spacesuit and rover contamination: During the Station 8 boulder. A similar scoop lined with μ-metal Apollo missions rocks were in very close proximity to foil could protect select samples from magnetic fields. the astronaut spacesuits, which may have exposed Image AS17-146-22371. them to strong magnetic fields. The highest spacesuit Astronaut training: Astronaut training should fields are likely to originate from the portable life include the basic principles of rock magnetism and support system (PLSS). These fields could be reduced paleomagnetic measurement techniques. In by wrapping key components in magnetic shielding combination with these concepts, practical skills such (μ-metal), but this may be technically difficult and as differentiating shocked breccias from unshocked costly. Another option is to measure the spacesuit pristine samples will help an astronaut determine the magnetic field on Earth and establish the distance suitability of samples for collection. where the field falls to low levels. At this distance Conclusions: 1) Accessing oriented bedrock for nonmagnetic scoops or similar sample collectors could paleomagnetism studies may require kilometer-scale be used for a sample that is to be dedicated to drill depths at melt sheets, but would require shallower magnetism studies (Fig. 1). To avoid contaminating depths at mare locations. 2) Long-range roving is a the sample when brought close to the PLSS, a scoop possible means to reach mare locations from a polar could be lined in μ-metal foil. A spring loaded lid base. 3) Trivial changes to sampling equipment can could clamp down with another piece of foil to greatly diminish magnetic contamination. completely enclose the sample. The sample would References: [1] Garrick-Bethell, I. and Weiss, B. then be ready for carrying near the PLSS or on a rover. P. (2007) Lunar magnetism studies by crewed Spacecraft and rover contamination: Since fields missions to the Moon, Workshop on Science from the rover and spacecraft may be especially high, Associated with the Lunar Exploration Architecture, it is worthwhile to protect all samples in μ-metal Feb. 27, Tempe, AZ. [2] The Scientific Context for containers or foils during transportation, not just those Exploration of the Moon: Final Report, National destined for paleomagnetism studies. Research Council, Washington, D.C., 2007. [3] Sample examination in a habitat: If a lunar habitat Wilhelms, D.E., et al. (1979) Geologic map of the is established some samples will likely be evaluated in south side of the Moon, U.S.G.S. Misc. Inves. Ser. a small laboratory for their significance (“high- Map I-1162. [4] Bhardwaj, M., et al. (1992) Design of grading”). It is also likely that fields in the habitat will a Pressurized Lunar Rover, NASA-CR-192033. be much higher than ambient lunar fields, and therefore select samples for magnetic studies should not be subjected to laboratory evaluation. 2007 LEAG Workshop on Enabling Exploration 3030.pdf
Executive Summary
Date Prepared: August 15, 2007
Presenter’s Name: Tony Lavoie Presenter’s Title: Program Manager, LPR Program Presenter’s Organization/Company: NASA – Marshall Space Flight Center
Presentation Title Lunar Precursor Robotic Program Status
Key Ideas
The presentation will consist of the current portfolio of activities within the Lunar Precursor Robotic Program (LPRP). Presently, this includes the Lunar Reconnaissance Orbiter (LRO) and Lunar CRater Observation and Sensing Satellite (LCROSS), as well as the effort to produce useful ground software tools related to the lunar environment for engineering use in mission planning as well as designing, developing, and operating lunar surface systems for Human return to the Moon.
Supporting Information
The LPR Program is the host program for the Exploration Systems Mission Directorate’s (ESMD) lunar robotic precursor missions to the Moon. The program includes two missions, LRO and LCROSS. Both missions will provide the required lunar information to support development and operations of those systems required for Human lunar return. LPRP is developing a lunar mapping plan to create the capability to archive and present all data from LRO, LCROSS, historical lunar missions, and international lunar missions for future mission planning and operations. LPRP is also developing its educational and public outreach activities for the Vision for Space Exploration’s first missions. LPRP is working closely with the Science Mission Directorate as their lunar activities come into focus.
2007 LEAG Workshop on Enabling Exploration 3031.pdf
COMMERCIAL DEVELOPMENT OF THE MOON: INFORMATION CENTER AND THE GREAT LUNAR DEPOSITORY. David .S. McKay, Mail Code KA, ARES , Johnson Space Center, Houston TX 77058 [email protected]
Introduction: Most discussions of the commercial does not stay over the same spot on the earth all of the development of the moon have centered on the produc- time. This disadvantage might be compensated for by tion and use of lunar resources. These resources range small data-relay satellites. The big advantage of lu- from oxygen and hydrogen for propellant to support nar-based information systems is that they can be space operations to helium-3, a potential source of placed in very safe and protected locations. The sys- fusion energy for the earth. In the case of rocket pro- tems can be buried in regolith, placed in the bottom of pellant, the proposed customer has generally been the craters, or even put into lava tubes. These locations government and its space program, the use of propel- can be made safe from radiation damage or small im- lants has generally been for earth-moon space opera- pacts. Here, the data can be considered secure for lit- tions, support of a lunar base, or possible future sup- erally millions of years when proper storage media are port for Mars expeditions. The use of the moon as a used, particularly if stored in more than one redundant collection site for solar power to be beamed to earth is but widely separated location. Such data would likely another concept that has been much discussed. survive anything other than a moon-destroying aster- Alternative Activities: Other proposed potential oid impact. Data would be secure against nearly all commercial uses of the moon have included robotic kinds of earth natural disasters (floods, earthquakes, rock and soil sample return for sale to collectors, the tidal waves, fires, volcanic eruptions, global warming, collection of scientific data for sale to NASA, the pro- and glaciers) and most human-caused disasters includ- duction of virtual reality data from robotic rovers for ing wars, terrorist attacks, or deliberate destruction. use in entertainment theme parks and schools, and the Store valuable records. If the cost were reasonable, development of a tourism and hotel industry on the the moon might be suitable as a depository for both moon, possibly in connection with health rehabilitation government and industrial records. With appropriate activities. storage media, the lunar storage environment could be How do you make money developing the moon? ideal: high vacuum, no oxygen or other reactive gases The key to long term sustainability of a lunar outpost to alter storage media, constant sub-freezing tempera- is to have the participation of commercial activities ture (when buried or in a lava tube). . The initial sys- that share the government infrastructure and pay for tem consisting of communication packages, servers, their share. What are some examples of possible lunar and data storage could be all robotic, implanted by uses? soft landers or even penetrators, but as it expanded it would likely require the periodic or permanent pres- Information and Data Storage; information as a ence of humans for maintenance, upgrading, and op- commodity. The use of communication satellites, erations. Storage media could be periodically up- particularly geosynchronous ones, is currently a multi- graded as new systems are developed, and several dif- billion dollar business. If an infrastructure existed, the ferent media types could be used for redundancy. At moon could be used as collection site, relay node, and this stage, a human maintenance staff would likely be value-added location for digital information. In con- needed, but, large staffs would probably not be neces- trast to materials and consumables, the cost of trans- sary for many years. Customers might be divided into porting information to the moon and back again to those with simple data storage requirements, and those earth is extremely low. If an infrastructure existed, with processing, value-added requirements. Examples such collection, transport, processing, and value-added include banking conglomerates , transportation reser- activities could be a source of revenue in the same way vation systems, DOD and national security data man- that geosynchronous satellites are. An advantage over agers, Non-DOD records and processing nodes such geosynchronous satellites is that data could not only be as Social Security, and any number of financial re- relayed, it could be processed, stored, and recalled, and cords, general business records, and even genealogical hardware could be periodically repaired or replaced. records. NASA is accumulating huge amounts of data The decreasing number of empty orbital slots would from space missions, and recent examples show that not apply to lunar systems. Geosynchronous satellites some of these records may be misplaced or lost. The are subject to collisions with orbital debris. They are moon could also serve as a major node and data re- also subject to radiation damage, and they eventually pository for internet-accessible data bases available go dead and cannot be repaired. Of course, the moon directly to individuals for a fee. Commercial data stor- age in secure locations on earth is already a thriving 2007 LEAG Workshop on Enabling Exploration 3031.pdf
business, and locations include caves, buildings made The moon as a bank vault for our genetic treasures. of thick reinforced concrete, and secret rural locations. Going a step beyond data, documents, and artifacts, However, any terrestrial location is subject to the haz- the moon could also serve as a depository for our ge- ards listed above plus longer term geologic weather- netic treasure and diversity. A collection of seeds, ing, decay, and erosion; only a buried lunar location spores, eggs, cells, and DNA samples can be assem- can be guaranteed safe for hundreds, thousands, or bled from plants, animals, insects, bacteria, and even even millions of years. One approach is to have the viruses. Recent progress in genetic technology and astronauts set up and leave behind a data communica- microbial preservation suggests that we may be able tion/storage system on each lunar Sorte mission. The revive frozen microbial organisms at any future time, added cost over the basic cost of the exploration mis- as well as grow the original plants or animals from sion would be minimal. Redundancy of many loca- frozen seeds, spores, eggs, and cells. DNA deterio- tions would add to the reliability of the overall system. rates over time, but may last as long as a million years. The Great Lunar Depository. At one point in his- Human genetic material could be preserved as sperm tory, much of the recorded knowledge of the ancient and eggs, or as stem cells. For endangered species, world was stored in the great library of Alexandria, this might provide a means of preserving their genetic Egypt. In 500BC, that library was destroyed by a great material long into the future. While this could also be fire and priceless documents were lost forever from done on Earth, a lunar depository provides insurance human culture. If we make a secure archive on the against nearly all natural disasters, wars, terrorist at- moon for not only digital data but also for precious tacks, unstable governments, and even large asteroid artifacts, we increase the chances that records and ex- impacts. In the (hopefully) unlikely event that the amples of human culture will be safe for many millen- Earth is destroyed or sterilized by natural disasters or nia. The moon has a priceless asset which has not extreme human activity, the genetic material stored on been fully appreciated: physical security. The prob- the moon could be used by survivors located on the ability that a given site on the moon will remain undis- moon, Space Station, Mars, or elsewhere, to start a turbed by the impact of asteroid chunks can be calcu- new biosphere. lated rather precisely using meteorite impact data al- Who will pay? Multiple and diverse customers are ready in hand. The probability is highly dependent on envisioned. The government may be interested in data depth of burial, but even material at modest depths—a storage and processing in such areas as social security few meters, will likely survive undisturbed for millions records, tax records, and national security applications. of years. This Great Lunar Depository might be Industries involved in major data processing and stor- stocked with important artifacts including (simply as age such as banks, airlines, and health providers may examples) a Gutenberg bible, relics from various relig- be interested in a system that uses the moon as a data ions, original scores by composers ranging from Bach node and archive. More than a million people signed to the Beatles, original manuscripts by such authors as up to have their name carried into space on the Star- Faulkner, Hemingway, and Joyce, copies of the 100 dust mission to a comet. While this opportunity was all-time best films, original photo archives dating back free, it does indicate the immense public interest in to the Civil War, and even important state papers and having a personal stake in a mission and in sending historic documents. What are the chances that a shiny, your name and the names of your family members into rust-free, working 2007 television , PC, wrist watch, space. The opportunity to deposit records of your DVD, magnetic tape, or newspaper can be preserved families existence to be preserved for millions of years on the Earth for a few hundred years, let alone a few might become a real attraction It is not clear who thousand years? Will there be a photograph of you would pay for a cultural and genetic depository on the and your family around in a thousand years? Perhaps, moon. One possibility is that a privately funded non- but only if these items were carefully preserved in a profit foundation could be established for this Lunar Depository. Would you pay $100 to ensure .purpose. that a photograph , history of your family, or your Summary While exploration and science may be the wedding ring will exist for a thousand years? If early focus and lunar resources will eventually be im- enough families paid $100, would this be enough to portant, we need to visualize using the moon in a support a basic lunar depository? A related use for a broader context. In particular, we must go beyond the lunar depository is to store burial or cremated human traditional ideas that the moon can only be useful for remains. The launching of such remains into space is propellant, consumables, or energy production. Multi- already a viable revenue-producing business. Storage ple other uses are possible, or perhaps required for on the moon would nearly guarantee that these remains sustainability. In the long term, the moon may become are preserved for millions of years. both a communication center and a safe deposit box for ecological treasures and civilization from Earth. 2007 LEAG Workshop on Enabling Exploration 3033.pdf
OPTIMIZING INSTRUMENT PACKAGES FOR THE LUNAR SURFACE. P.E. Clark1, R. Lewis2, and L. Leshin2 1Catholic University of America (Physics Department) at NASA/GSFC, Code 695, NASA/GSFC, Greenbelt, MD 20771, [email protected]; 2NASA/GSFC, Greenbelt, MD 20771.
Introduction: In support of NASA’s Lunar Architecture Team (LAT) activities to devise and plan lunar mission infrastructure options, a science and engineering team at GSFC has conceptualized and investigated several lunar surface science and carrier packages. These studies have demonstrated that when conventional approaches are used in designing instrument packages, performance suffers and mass and cost parameters grow significantly as a result of increased thermal protection and battery power requirements necessary to withstand lunar environmental conditions within needed operational constraints. Instrument packages under consideration: Three packages have undergone preliminary system and subsystem design using a conventional instrument package design approach at the GSFC ISAL (Instrument Systems Analysis Laboratory) facility. These include an lunar environmental monitoring station (LEMS) and an unpressurized carrier, as shown in Figures 1 and 2, as well as a small Earth Observing telescope package. Figure 1: Schematic of one of Lunar Environmental The carrier is designed as a reusable unpressurized Monitoring Station (LEMS) above and unpressurized cargo carrier. It would have a thermostatically carrier concept below under consideration as part of this controlled environment and capability for survival study. power up to 48 hours as well as connectivity for external power and monitoring. LEMS is designed to provide detailed measurements and comprehensive understanding of the interactions between radiation, plasma, solar wind, magnetic and electrical fields, exosphere, dust and regolith. It is not only representative of automated lunar science stations which would provide a much needed context for in depth understanding of the Moon, and is a primary candidate for early deployment before contamination of the lunar exosphere. Thus LEMS would provide critical data on space weather and medium- to long-term trends in the lunar surface environment. The instrument package consists of spectrometers to measure neutral gas species of the exosphere, X- and Gamma-radiation, energetic neutrons and protons from the solar and galactic radiation environment; particle analyzers to measure Using a Conventional Design Approach: Both the spatial and energetic distribution of electrons and LEMS and the observatory package are designed to be ions; a dust experiment to measure diurnal variations an automated stations powered by solar panels with in the size, spatial, and velocity of lunar and batteries, and operational for up to five years. The micrometeorite dust; and electric and magnetic field stations must survive the extreme cold and thermal instruments to indicate changes resulting from cycling varying between the poles and equator (50K to variations in solar activity, and terrestrial magnetic 400K) as well as prolonged darkness over periods field interactions.
2007 LEAG Workshop on Enabling Exploration 3033.pdf
ranging from five days to 14 days. These lunar surface Attempt to develop a new design strategy: conditions are quite different from conventional deep Important aspects of our ongoing work are: space conditions where one side of the spacecraft is 1) To conduct a comparative analysis of GSFC’s almost always illuminated and heat dissipation is the low temperature/low power and packaging strategies thermal issue. (e.g., CULPRiT and others) and conventional power In fact, when conventional approaches were used to and mass reducing strategies as applied to a lunar design the LEMS package, for example, battery mass surface instrument package (Lunar Environmental driven by the need for power for survival heaters Monitoring Station) which has already undergone during periods of prolonged darkness became the preliminary study identifying the most promising overwhelming driver of the total mass with only 19% components and design strategies for the candidate allocated for the instrument payload and 53% for the systems. Low temperature and low power electronics power system. The power allocation was 180W (85W coupled with thermal design packaging will be studied. for the instruments) during the day, 90W (60W for A full system design approach will be instituted; thermal heaters alone) at night with the instruments 2) To develop system design concept guidelines turned off, even though measurements made during and a “toolkit” exemplified by application to one or periods of darkness are essential. more candidate GSFC instrument packages under Need for an alternative Design Strategy: Clearly, development for the lunar surface; and strategies which reduce the need for thermal survival, 3) To develop a plan for advancing recommended an issue particularly in minimal atmosphere surface technologies in application to lunar surface environments with long periods of low to no instruments, payloads, and associated systems to illumination, through the use of ultra-low power, ultra- minimize mass, volume, and power requirements as a cold operating components that are now becoming precursor to design guideline generation. available, and the use of thermal design and innovative This approach will leverage NASA’s existing and thermal balance strategies are crucial to design a projected unique capabilities within the creation and package with mass, power, and volume significantly implementation of these technologies that are critically reduced to create opportunities for more science in demand to serve NASA’s Vision for Exploration. packages. We are in the process of developing a systematic approach to applying ultra-low power and ultra-low temperature technologies, and test this approach by applying it to a Goddard Space Flight Center (GSFC) science instrument package concept considered a near- term contender for implementation. Our strategy will incorporate components and design concepts which radically minimize power, mass, and cost while maximizing the performance under extreme cold and dark conditions even more demanding than those routinely experienced by spacecraft in deep space. In this way, instrument system and subsystem design, packaging, and integration will significantly enhance the opportunities for the science community to develop selectable, competitive science payloads. Promising Technologies for operating on Cold, Dark Surfaces: Ultra-low power and low temperature (ULP, ULT) strategies, some developed at GSFC and Figure 2: Schematic of deployed LEMS in background through partnerships with the University of Idaho and with astronaut standing by solar panel/battery assembly in the Department of Defense (DoD) National mid-ground and Lander with carrier on top deck in Reconnaissance Office (NRO), are being used foreground. successfully and have demonstrated orders of magnitude savings in power consumption and thermal tolerance. These systems include the use of CULPRiT (CMOS Ultra-low Power Radiation Tolerant) technology successfully flown on NASA’s ST5 90 day mission in March 2006.
2007 LEAG Workshop on Enabling Exploration 3034.pdf
HYDROGEN: A STRATEGY FOR ASSESSING THE KEY ELEMENT FOR THE LUNAR OUTPOST . J. B. Plescia1, P. D. Spudis1, B. Bussey1, R. Elphic2, S. Nozette3, and Andy Phipps4. 1Applied Physics Laboratory, 11100 Johns Hopkins Road, Laurel MD 20723. 2Los Alamos National Laboratory, MS D466, Los Alamos, NM 87545. 3ACT Inc. Chevy Chase, MD. 4Surrey Satellite Technologies, Guildford, United Kingdom.
Introduction: The Vision for Space Exploration form (H2 or H2O) or the physical properties of the de- (VSE) calls for the permanent occupation of the Moon posit. If present as H2O, that water can be electrolyzed using robots and humans. A key objective of the VSE to produce both H2 and O2 at relatively low energy is to learn how to use lunar resources in support of that expenditure. activity and to achieve the objective of sustained lunar While the Lunar Prospector neutron data indicate occupation, local resources must be exploited to the enhanced hydrogen over the polar regions, those data greatest possible extent. have insufficient resolution to differentiate between Using ISRU a necessity to fulfill the objectives of regional enhancement at 100-150 ppm and local con- the VSE as articulated by the President and within the centrations in shadowed areas of 1000 ppm. This context of “pay-as-you-go”. To facilitate pay-as-you- disctinction has impotant implications for harvesting go, prevent expenditures on technical blind alleys, and the hydrogen. If it is uniformly distributed over the reduce programmatic and technical risk, one needs to polar regions, it is probably largely of solar wind ori- “know before you go.” gin and could be extracted anywhere. If it is seques- Key decisions with respect to resource utilization tered in permanently shadowed areas, then the chal- include its choice, use, and production method(s). lenges of harvesting the hydrogen would be much dif- While it is possible now, using our current understand- ferent. ing of maria and highland chemstries, to make a deci- Implementation Approaches: In order to deter- sion regarding which ore to exploit, such a decision in mine which model is correct, surface exploration must the absence of an understanding of the resource poten- be conducted and in situ analyses made. The form, tial of the Moon as a whole could be fiscally and pro- concentration and distribution (both vertically and lat- grammatically unsound. Understanding the resource terally) of the hydrogen must be understood. Studies potential of the polar regions, about which we have conducted during RLEP and LPRP considered a vari- little data, is required to make an informed decision. ety of mission options to explore both the illuminated ISRU Requirements: Hydrogen and oxygen are and permanently shadowed regions. Options were con- the most valuable elemental resources and can be sidered in which a rover/lander combination was found anywhere on the Moon. H2 typically occurs in landed in an illuminated region; the rover was then very low abundance (~50 ppm) whereas O2 makes up deployed to explore both the illuminated and shad- ~45% of the regolith by mass. The issue of mining owed regions. In other options, a static lander was hydrogen and oxygen is not so much where to go as deployed to the illuminated region and a second “sled” what is involved in obtaining those elements in differ- was landed in the shadowed area carrying the rover; ent places and using different feedstocks. the sled simply delivered the rover and the rover then The Known Moon: The Apollo and Luna mis- proceeded independently. For the mission scenarios in sions provided a sufficient database for understanding which two vehicles were landed; architecture involv- the chemical and physical properties of the equatorial ing single and dual launches were considered. Be- lunar regolith. Several processes have already been cause of their size, these missions all had the ability to identified to extract oxygen from both mare and high- definitively determine the hydrogen form, distribution lands regolith; each has different energy requirements, and concentration in both the illuminated and shad- production efficiencies, and required infrastructure. owed regions as well as conduct a complete retinue of Most processes are inefficient (less than a few percent environmental assessments. yield) and require significant amounts of energy (10’s An alternative architecture involving a more fo- KWh/kg); some are feedstock-sensitive (e.g., ilmenite cused set of experiments to assess the hydrogen con- reduction requires high-Ti mare regolith). tent has also been considered. This involves the use of The Unknown Moon: The lunar poles are both hard landers to deploy a highlyfocused payload, in this different and largely unknown compared with the case to assess the hydrogen content. The methodology front-side low latitude area. Permanently shadowed is similar to that envisioned for deployment of a hard- regions may hold significant water ice (and other vola- landing seismometer (“Tonto”) from the Ranger space- tiles) mixed with the regolith. While enhanced levels craft as it approached the Moon. of hydrogen are certainly present, we do not know its 2007 LEAG Workshop on Enabling Exploration 3034.pdf
A small package (e.g., a sphere) would be de- 10°C, compared with the two weeks of darkness and a ployed from orbit. A retrorocket would be used to null 250°C temperature span at lower latitudes. out the orbital and most of the descent velocity. The RLEP missions could demonstrate regolith mining, package would hit the surface and be designed to with- conduct extraction demonstrations, and experiment stand the shock and operate for a few hours. They with conversion and storage techniques and processes. payload could include: a neutron spectrometer, volatile These would allow an understanding of the advantages analysis package, and an elemental analysis experi- and problems of each method and allow informed de- ment (e.g., XRF, apx). Unlike the Japanese Lunar A cisions as to which technique to pursue. mission, the package would remain on the surface Conclusions: We could choose to go to the equator rather than penetrating into the regolith. Mulitple today; we have sufficient knowledge of the Moon and packages would need to be deployed to obtain cover- its materials in equatorial regions to design a human age in both the illuminated and shadowed areas. outpost now. We have enough samples and surface Assessments using small landed packages would information to design and implement an ISRU plan; provide some data, but would be unable to address the we know the level of difficulty and the likely costs of broad distribution and concentration of the hydrogen. producing a given amount of product per unit time. If A mobile platform with the ability to collect and ana- such a choice is made, there is no need for any early, lyze subsurface samples will still be required. But, the information-gathering robotic missions, including the understanding gained from these packages would pro- LRO. vide very explicit guidance for a more sophisocated However, we believe that it is unwise to choose a future mission. lunar architecture now, without first characterizing the Energy / Technology Issues: The energy needed nature of the polar volatiles. The unique nature of to produce O2 and H2 is a more complicated issue than those polar resources could significantly reduce costs a simple comparison of the energy required to break and enhance both the speed and scope of capabilities the Si-O / metal-O or H-O bonds. The total cost for on the lunar surface. Over the next six years (2006- such harvesting includes the energy to extract the ore; 2012), NASA will spend about $100B. An early, the energy to emplace the infrastructure, as well as the premature decision (go before you know) may avoid energy to break the molecular bonds. Previous ISRU near-term RLEP expenditures, but could result in studies have noted that the presence of polar water and higher risk and possibly a much higher overall cost to other volatiles must be answered before an accurate implement the VSE. An RLEP program of 1-2% of ISRU cost/benefit analysis can be completed. Finding the total program cost is not unreasonable, considering such high-grade deposits allows “bootstrapping” of that permanent, sustained human presence on the capability from RLEP-scale infrastructure and pro- Moon is a prime objective of the VSE. vides high leverage on resource production early in a program of lunar return. Water electrolysis is a mature technology, used extensively at industrial scales (e.g., submarines). Extracting oxygen from silicates has been done at large scales only in the aluminum- smelting industry and is a very energy-intensive opera- tion. Consequences: Once the presence, form, distribu- tion and concentration of polar ice are determined, an informed decision can be made as to which ore (mare regolith or polar ice) is the most relevant to the lunar return architecture. Cost savings and risk reduction might come from more than simply lower energy re- quirements; it may be possible to extract polar volatiles in situ without moving the regolith. But, that possibil- ity is a function of the nature of the deposit and dis- tances involved, which are unknown. It is certainly true that the poles are more benign from both power generation and thermal loading perspectives. There are locations near the poles of near-permanent sunlight and a near-continuous surface temperature of –50° ± 2007 LEAG Workshop on Enabling Exploration 3035.pdf
RETURN TO THE MOON: ETHICAL, CULTURAL AND SOCIAL ASPECTS – INITIAL APPROACHES TO THESE COMPLEX THEMES WITH A GEOLOGICAL PERSPECTIVE. V.A. Fernandes1,2, B.A. Cohen3, J. Fritz4, and E.K. Jessber- ger5; 1Berkeley Geochronology Center, Berkeley,CA 94704,USA and 2 Centro de Geofísica, Univ. Coimbra, Coimbra, 4 Portugal [email protected]; 3Institute of Meteoritics, Univ. New Mexico, Albuquerque NM 87131, USA; Institute für Mineralogie, Universität Heidelberg, Germany; 5Institute für Planetologie, Wilhems-Universität Münster, 48149 Münster, Germany.
Introduction: Exploration and search for the unknown challenging opportunity for humans to be less ego- are inherent characteristics of humankind, attributes that centric and see the implications of returning to the have allowed us to unify Planet Earth on the same map. Moon beyond each personal experience and desires The experience of reaching goals is fulfilling and impor- on timescales exceeding a single generation. tant for human development. However, it is necessary to 3. What effects on the Moon will be caused by the robotic make conscious and responsible decisions, so that risks and/or human activity? Until the 1950's - 60's human of unforeseen mistakes can be minimised if not avoided. (Soviet and U.S.) space race, the lunar surface had The lunar exploration community gathers people from only been disturbed by cosmic and galactic material - many different backgrounds and interests, thus it is an part of the normal progression of things in space. With ideal meeting ground for discussion of the different as- the advent of technological possibility to send space- pects of the impacts that lunar exploration will bring. craft to lunar orbit and the surface, this cosmic envi- ronment was no longer unique, but had been dis- turbed. Humans left vehicles, lunar modules, satel- As a group, the lunar community has the respon- lites, scientific tools, etc. Presently, the Moon no sibility to put forward concerns, suggestions and com- longer is what it used to be from its birth ~4.5 Ga till ments relative to the return of Humans to the Moon. For the 1960's. We need to highlight environmental and this, lunar community members will need to be able to conservation awareness of the Moon, for example, see beyond individual, corporate, and governmental perturbation of the tenuous lunar atmosphere or ir- needs and desires, and be able to expand and consider reparable disturbance of volatiles in the uppermost other aspects relative to this endeavour. The history of soils. Some experiments have already been done in human exploration is long, and so it is a vast source of this regard during the Apollo missions that may be insight into the capabilities of humans to beneficially and used as guides. destructively influence the conquered environment. We should learn from our impact on Earth’s environment to 4. How may we use previously acquired knowledgeto be improve in future missions to the Moon and other plan- wiser in making future decisions? As planetary scien- ets.. tists, we see how much research on samples and re- mote observations of the Moon have contributed for Approach: We have composed a partial list of the understanding of the formation of the terrestrial questions that should be taken into consideration when planets. We need to unearth the existing data for in- planning the next human return to the Moon.This list formation and context on which key decisions were could serve as a starting point for discussion by LEAG based in previous exploration activities, and also data and other advisory groups: acquired on the lunar surface. We also need to adopt a step-by-step approach to reach the Moon, learning from experiences and mistakes. This approach would enable human kind to reach the Moon in a responsi- 1. Why do Humans want to return to the Moon and then ble and respectful manner. colonise it? We need to understand the inherent hu- man need to go to the unknown and make it known. 5. What are the opinions of all the Nations of the World We also need to reflect on how we have made the about the Return to the Moon, and how are their Earth our own and the beneficial and detrimental ef- voices taken into consideration? This point refers to fects of terrestrial exploration. the taking into account of different philosophies and approaches to what science and exploration are. This 2. What do we want from, of and on the Moon? Com- will allow us all to look at the world situation presently peating desires of scientific, cultural, religious, eco- and think how do we want it in the future, as well as nomic, strategic and military ambition will certainly im- how our actions will influence future human and non- part strong conflicts of interests, between various human generations. We need to consider who will be groups, companies, individuals, nations and alliances. included in the decision making processe and what The Moon is the only landscape deeply connected to their national agendas are. There may be people, all civilisations on the whole Earth in past, present and animals, and plants that will not benefit from this en- future, thus it may be considered as a World Heritage deavour; what consideration will they receive? The Site which has a value beyond science, economy and world is a vast place with many peoples, needs, military ambition. Further more, the Moon presents a wishes, and points of view. The next visit to the lunar 2007 LEAG Workshop on Enabling Exploration 3035.pdf
surface could perhaps be envisioned as a worldwide When we do return to the Moon, we will continue being exercise, where actually the so called Developed and Humans and to go about challenging our physical and Developing countries are to be seen at the same psychological selves, but we must do it carefully and level, and inputs considered and respected equally. humbly. The Moon is an important but fragile environ- ment that needs to be understood and taken into consid- 6. What are our obligations to the world: Moon Treaty? eration before we finally set sail and return to the celestial We should be knowledgeable of the already existing body closest to the Earth. Together, we hope to bring document and recommend immediate amendments the wherever necessary to the outdated document. The best of humanity to the Moon, and to bring the benefits of revision of the current Moon Treaty can have as a ba- the Moon to all people on Earth. It is important that, be- sis the Antarctic Treaty as an example of positive fore the return to the Moon, Humans as a whole have practice. All countries, companies, associations, carefully considered the initial questions of: Who are we, groups and individuals need to follow the Treaty even where did we come from and where are we going. if they did not sign it .
A panorama of the Hadley Rille area, taken by Apollo 15 astronaut James Irwin. Astronaut David Scott and the Lunar Rover are shown near the summit of Hadley Delta, while a portion of Hadley Rille occupies the central portion of the image. (Apollo 15 Crew, USGS, NASA)
Detail of area in the vicinity of Apollo 15 landing site: delicate and complex. (Apollo 15 Crew, USGS, NASA)
2007 LEAG Workshop on Enabling Exploration 3036.pdf
ISRU WILL MAKE THE DIFFERENCE BETWEEN GOING BACK TO THE MOON TO VISIT AND GOING BACK TO THE MOON TO STAY. B.L. Cooper1 and D. G. Schrunk2, 1Oceaneering Space Systems (16665 Space Center Blvd., Houston TX [email protected]) for first author, 2Quality of Laws Institute ([email protected]).
"Living off the land" is the principle of in-situ re- Radiation shelter is another important use of ISRU, source utilization (ISRU). Throughout history, settlers because regolith is a pre-existing, low-technology way of new lands brought their essential tools and equip- to mitigate the hazards to humans of Solar Energetic ment with them, but otherwise relied upon in-situ re- Particle Events. The capability to do excavation and sources for their survival and growth. The migration construction on the Moon is Mars-forward, because of humanity to the Moon will be no different than pre- longer stay times at Mars require the preparation of vious migrations; the first humans on the Moon will radiation shelters in advance of human arrival. bring their tools and survival equipment with them, but Another use for regolith is for berms to protect they will use indigenous resources for further devel- habitats and surface structures from the blast of dust opment. generated by ascent and descent of lunar landing vehi- The tools and technologies that must be developed cles. Machines controlled from Earth will help to es- for ISRU are applicable to other purposes. Transporta- tablish the process of "living off the land" by using tion of raw materials on the lunar surface teaches us available solar power. If they have a continuously how to operate in the harsh environment of space, available communications path to the Earth for receiv- whether the goal of the operation is ISRU, exploration, ing instructions and returning data, they can be super- or scientific research. If ISRU were not being con- vised from Earth, reducing the need for either machine templated, most of the tools and techniques involved autonomy or supervision by the crew, whose time will would be needed anyway. Trenching and drilling be oversubscribed. The harsh conditions of the lunar techniques are required for landing site preparation environment will present challenges for the establish- (burying utility cables, drilling post holes for masts). ment and operation of machines and equipment. Tech- Haulers are needed for building berms to shield habitat nology developments needed to operate equipment on modules from the dust stirred up by ascending or de- the Moon will be useful on Earth as well, for improv- scending vehicles. Perhaps most importantly, ISRU ing reliability of excavation systems both in humid and engineers are already developing seals for pressure arid regions. vessels in a dusty environment. When it becomes pos- Studies conducted over the past 40 years [1-8] have sible to construct sealed and pressurized underground shown that ISRU is an investment in our future—both chambers on the Moon, optimum conditions can be for settlement of the Moon and for exploration of Mars created for every manufacturing, agricultural, scien- and ever more distant locations. With various initial tific, and human habitation purpose (Figure 1). assumptions, almost all of the trade studies concluded Whether our destination is the Moon, Mars, or points that oxygen production would be economically benefi- beyond, we are likely to encounter dust, and it will cial for lunar base development. Large quantities of present challenges for seals and airlocks. propellant will be required for an expanded human presence in space, and most of the mass and volume of this propellant is due to the oxidant (usually oxygen) that is required for the chemical reaction. Oxygen comprises approximately 42% of the material on the surfaces of the terrestrial planets, and finding a way to extract oxygen from regolith is likely to be one of the earliest forms of ISRU. The Moon has all of the elements that are found on the Earth, including an abundance of iron, oxygen, aluminum, titanium, and silicon. Iron, titanium, and Figure 1. ISRU development includes seals that can be aluminum will be used for structures; aluminum can used both for pressure vessels and air locks. ISRU Excava- also be used for electrical cable and rocket propellant; tion and construction enable the advanced lunar base. Illus- and silicon will be used for solar cells, computer chips, tration by Paul DiMare, from [9]; used with permission. and telecommunication (fiber-optic) cable. When the mining and manufacturing equipment for ISRU are in 2007 LEAG Workshop on Enabling Exploration 3036.pdf
place on the Moon, a permanent utilities infrastructure can be constructed and global human settlement will then be possible (Figure 2).
Figure 2. When the mining and manufacturing equipment for ISRU are in place on the Moon, a permanent utilities infrastructure can be constructed and global human settle- ment will then be possible. Illustration by Paul DiMare, from [9]; used with permission. The key to living permanently on the Moon is hav- ing the ability to produce everything that is needed from local materials. ISRU technologies developed for the Moon will eventually give us a “sister planet” and provide the benefits of settling new territories that are seen throughout history. ISRU will also, either directly or indirectly, enable human settlement of Mars. When we are able to live permanently on the Moon, the human species will be protected against extinction by a catastrophic event on the Earth, such as a nuclear or biological war or the collision of a large asteroid. ISRU will make the difference between go- ing back to the moon to visit and going back to the moon to stay. References: [1] Criswell , D.R. (1983) Lunar Planet. Sci., 14. [2] Davis, H.P. (1983) Lunar Planet. Sci., 14. [3] Moulford, E.F.L. (1996) SAE 961596. [4] Allen et al. (1994) Space ’94, 1157. [5] Rosenberg, S.D. (1966) Aerospace Chem. Eng., 62, #61, 228. [6] Simon, M.C. (1985) Lunar Bases & Space Activities, 531. [7] Stump et al. (1985) Eagle Engineering EEI 85-103B. [8] Tay- lor et al. (1991) SMME Proceedings. [9] Schrunk et al. (2007) The Moon: Resources, Future Development and Settlement. Springer-Praxis, in press. 2007 LEAG Workshop on Enabling Exploration 3037.pdf
REDUCING THE RISK, REQUIREMENTS, AND COST OF THE HUMAN EXPLORATION PHASE OF THE CONSTELLATION PROGRAM WITH ROBOTIC LANDERS AND ROVERS. David A. Kring, Lunar Exploration Initiative, Lunar and Planetary Institute, Center for Advanced Space Studies, 3600 Bay Area Blvd., Houston, TX 77058 ([email protected]).
Introduction: The Lunar Orbiter, Ranger, Sur- (2) Ambient dust and particles produced by impact veyor, and Apollo missions demonstrated the utility cratering processes are potential hazards for long dura- and overall program success that can be generated by tion mission activities. The mobility of dust and its integrating robotic and human exploration of the effect on mechanical systems can be tested robotically Moon. In a strategy study for the new U.S. space ex- over multiple lunar days and, thus, resolve the putative ploration policy [1], Garriott, Griffin (now the NASA effects of passing terminators. Any special effects that Administrator), and their colleagues concluded a simi- might be associated with polar environments that are lar type of synergism is prudent and that the initial either shadowed or dominated by sunlit conditions can reconnaissance missions should “involve extensive also be evaluated. robotic and remote sensing activity.” The report fur- (3) In the current LAT design, polar operations in- ther concluded that “human-robotic synergism is ex- volve landing and habitation zones that are separated pected to play an essential role in the scientific, engi- by >1 km. This separation requires the transport of neering, and new technology aspects of emerging hu- significant amounts of material over the lunar surface. man exploration of the solar system.” The advantages Apollo and Lunokhod missions demonstrated that ve- of that type of integration and synergism is further hicles can become stuck in soft soils, particularly explored here, based on the science and exploration where they form unconsolidated deposits around im- objectives articulated recently by the Lunar Architec- pact craters. Also, once disturbed, consolidated re- ture Team (LAT [2]) and the National Research Coun- golith cannot be mechanically recompacted to its origi- cil (NRC [3]). nal density. For those reasons, a robotic survey of Reducing Risk, Requirements, and Cost of Po- potential routes between a landing zone and habitation lar Operations: Specific elements of the exploration area will greatly reduce risk and narrow the require- initiative require polar operations [4]. This is an envi- ments for transportation designs suitable for the human ronment with which we have no prior experience. operations phase. Although we can extrapolate from our experiences in (4) The sunlit regions of polar environments are the near-side equatorial region, uncertainties in several being targeted to exploit solar power, yet the nearby physical parameters and their effects over longer dura- shadowed interiors of impact craters may need to be tion missions than those of the Apollo program are exploited to meet other resource and safety objectives. increasing engineering requirements for the Constella- Shadowed craters are difficult terrains for humans to tion Lunar Lander and supporting infrastructure. explore and may be best characterized initially by ro- Some of those uncertainties can be addressed with botic systems. Preliminary designs of robotic landers robotic missions, so that the risk, requirements, and and rovers suitable for both the sunlit rims and shad- cost of human exploration are reduced. For example: owed interiors of polar craters have been developed [5] (1) The ionizing radiation environment in cis-lunar and are ready to be implemented. space has been measured repeatedly and is fairly well Integrating Robotic and Human Exploration: understood. The interaction of that radiation with the Although exploration activities may be concentrated in lunar surface in a polar region can be modeled, but a polar environment, the recent LAT and NRC studies those models have not been confirmed with in situ [2,3], plus a previous Lunar Exploration Science measurements, particularly during peak activity of a Working Group (LExSWG) study [6], require global solar cycle. Robotic missions can (a) measure ionizing access (Fig. 1). For that reason, landers and rovers are radiation in sunlit and shadowed regions at a pole, (b) being designed that can be deployed anywhere on the test habitat and astronaut radiation monitoring devices, lunar surface, including shadowed craters [e.g., 5]. A and (c) test the effectiveness of regolith for shielding robotic rover system, for example, can be deployed in by deploying detectors in trenches and beneath re- several modes to facilitate human exploration: worked regolith. If a robotic mission is flown in 2010, (1) As a mobile experiment platform that can ac- then it can make those measurements during solar complish the science objectives of LAT, while also maximum, providing a better measure of potential risk accomplishing the exploration objectives that must be and requirements needed to mitigate that risk. 2007 LEAG Workshop on Enabling Exploration 3037.pdf
met in preparation of future human operations. Sev- during lunar nights and when hazardous conditions eral examples are described in the previous section. exist. (2) As a transport vehicle that can deploy static Conclusions: Robotic missions are a low-cost, science and exploration platforms, both during the science- and exploration-rich method to initiate a lunar robotic and human exploration phases. exploration program. Under tight budget constraints, (3) As a scout deployed prior to a human flight. robotic activities can be accelerated, because they de- For example, one of the highest science priorities is to liver large returns for relatively small dollars. They determine the impact flux in the Earth-Moon system also have the capacity to reduce risk, engineering re- [3,7,8], which will require a diverse set of samples quirements, and cost of a human exploration phase. from multiple impact craters. A robotic lander-rover Like the human phase of exploration, a robotic phase system can survey potential sampling sites and deter- will drive technology and, thus, support an underlying mine routes to them in advance of human collection goal of space exploration. An integrated robotic and during an astronaut-led mission. Furthermore, it can human exploration program will likely be the most expand the geographic coverage of human-led sorties cost efficient and productive means of exploring the by collecting, caching, and potentially returning sam- Moon and other targets of the Constellation Program. ples from other lunar locations. (4) As an astronaut assistant during the human ex- References: [1] Garriott O. K., Griffin M. et al. (2004) ploration phase. A rover will augment surface opera- Extending Human Presence into the Solar System, The tions so that an astronaut has more time to explore the Planetary Society, 35 p. [2] geology of the lunar surface and conduct other explo- http://www.nasa.gov/pdf/163560main_LunarExplorationObj ration activities. This strategy will maximize the time ectives.pdf. [3] Paulikas G. A. et al. (2007) The Scientific available for astronauts to utilize their unique human Context for Exploration of the Moon: Final Report, National capabilities by assigning many mechanical and ana- Academies Press, 112 p. [4] lytical tasks to a robotic rover. http://www.nasa.gov/pdf/163896main_LAT_GES_1204.pdf. (5) As an extended mission partner with human [5] Kring D. A. and Rademacher J. (2007) LPS XXXVIII, sortie efforts, deployed to further explore the lunar Abstract #1595. [6] LExSWG (1995) Lunar Surface Explora- surface around a sortie landing site after astronauts tion Strategy, Final Report, 50 p. [7] Kring D. A. et al. have returned to Earth. Post-human mission process- (2005) Space Resources Roundtable VII, Abstract #2017. [8] ing of lunar surface materials might also be accom- Kring D. A. (2007) NASA Advisory Council Workshop on plished with a robotic component. Science Associated with the Lunar Exploration Architecture, (6) As a surrogate explorer deployed by astronauts http://www.lpi.usra.edu/meetings/LEA/whitepapers/Kring_N on extended (e.g., 180-day-long) missions, particularly ACLunarMtg_2007_Invited.pdf.
Fig. 1. Map showing the locations of several candidate landing sites on the Moon [5]. 2007 LEAG Workshop on Enabling Exploration 3038.pdf
Lunar Commercial Communications Enabled by the International Lunar Observatory / ILO Association. S. M. Durst, W. W. Mendell, and M. Gonella.
Accomplishing the primary, science / astrophysics mission of the International Lunar Observatory -- to expand human knowledge of the Cosmos through observation from our Moon -- will result necessarily in a telecommunications capability. This capability will fulfill primary astrophysical observation mission requirements, with additional capacity available for commercial applications.
The ILOA is developing a market analysis of user demand for this lunar-based communications commodity. Beyond declaration of intended use of this capacity by affiliated Space Age Publishing Company's Lunar Enterprise Daily, a wide range of space -- and non-space -- enterprises, organizations and individuals may favor the global reach advantages of Cislunar broadcasting, advertising, publicity and transmission. Internet and e-mail .moon / .luna domains provide multiple applications and marketing opportunities.
Lunar surface transportation, construction, mining and research operators and vendors are expected to follow and will be able to contract services through this established facility, streamlining surface operation requirements. The pioneering Lunar Commercial Communications Workshops sponsored by Space Age in California's Silicon Valley last January and July marked significant advances in lunar commercial communications understanding, and may help catalyze an entire new industry, expanding the domain of the human commercial telecommunications network by a factor of 1,000. 2007 LEAG Workshop on Enabling Exploration 3039.pdf
POSSIBLE MAFIC PATCHES AT MONS MALAPERT AND SCOTT CRATER HIGHLIGHT THE VALUE OF SITE SELECTION STUDIES. B. L. Cooper, Oceaneering Space Systems, 16665 Space Center Blvd., Houston TX ([email protected])
Introduction: Possible areas of mafic material on spond to areas of yellow and orange in Figure 2, sug- the rim and floor of Scott crater (82.1ºS, 48.5ºE) and gesting high-Ti mafic materials or pyroclastic deposits on the northeast flank of Mons Malapert (85.5ºS, 0ºE) [5, 6]. are suggested by analysis of shadow-masked The areas near the letters “C” and “D” show the largest Clementine false-color-ratio images using the tech- amount of yellow color, which changes gradually to nique of [1]. Mafic materials can produce more oxy- blue. If the yellow color was caused only by shadows, gen than can highlands materials [2], and mafic mate- the color change would be abrupt. The yellow colors rials close to the south pole may be important for pro- also correspond to areas of low albedo in Figure 1, pellant production for a future lunar mission. If the which strengthens the interpretation that they are dark patches are confirmed as mafic materials, this caused by geochemical variation in surface materials. finding would suggest that other mafic patches may Nevertheless, uncertainty remains because of the also exist, perhaps even closer to the poles. These sharpness of the transition at the crater rims. Finally, preliminary findings illustrate the need for additional the orange area near “B” is more solidly colored and site selection studies in the lunar polar regions, to im- has a sharp edge, which makes its interpretation less prove our capability to “live off the land”. certain than that of areas “A”, “C”, and “D”.
A A B B C C
D D
Figure 1. Lunar Orbiter IV Frame 118, showing the area that Figure 2. Clementine mosaic false-color data for the area along corresponds to the Clementine data in Figure 2. the northeast rim of Scott crater (82.1ºS,48.5ºE). Scott Crater: In the Lunar Orbiter visible-light It is possible that the yellow colors in these areas image of the northeastern wall of Scott crater (Figure represent both shadows (near the craters) and pyroclas- 1), the areas near letters “A” and “B” have a hum- tic deposits (distal to the craters). An examination of mocky appearance and low albedo. The albedo con- LRO data will be helpful in determining which of trast is noticeable between these areas and the crater these is the predominant cause of the color variations. floor material to the west (left side of image). “C” Mons Malapert: Clementine mosaic images from points out a sharp color change, where dark materials the Mons Malapert area are shown in Figures 3 and 4 appear to be adjacent to a small (<10 km) crater and (750 nm basemap and color ratio maps, respectively). draped over its flank. “D” shows a more subtle albedo Areas with orange and yellow colors are seen here variation. also, but their interpretation is more challenging. They Figure 2, from the same area, was created by re- do not correspond to dramatic changes in albedo, as moving spurious data [4] from a Clementine false- was seen in the Scott crater area. They occur on the color ratio image mosaic [1]. The remaining color northeast flank of Mons Malapert and in the area east variations may be interpreted using the method pro- of the peak, and do not appear to be associated with vided by [5]. The low-albedo areas of Figure 1 corre- nearby craters. 2007 LEAG Workshop on Enabling Exploration 3039.pdf
Because minor variations in sun angle cause dra- Mons Malapert appears to have all of these qualities, matic changes in the appearance of terrain in the polar and ongoing studies of Scott crater will provide a sec- regions [7], images that provide illumination of the onde potential landing site for which each of these areas adjacent to the mountain east and northeast are criteria may be compared. When it becomes available not available in the highest resolution (south periapsis) LRO data will be incorporated into these analyses to data. A study of the Lunar Orbiter imagery for this provide an improved assessment. Meanwhile, these area has also not revealed any clues to the geologic early studies give us confidence that the ISRU tech- context of these patches. nologies being developed now can be used at the first One possibility that can be explored with LRO and lunar landing site. other future lunar missions is that these are patches of Conclusion: Additional high-resolution analyses cryptomare material, as described by [9]. Another are needed to confirm the nature of the possible mafic possibility is that they are related to the rim of the areas at Mons Malapert and Scott crater, and to deter- South-Pole Aitken Basin (SPA), which is mapped to mine the value of these and other locations as potential this general area by [8] and others. landing sites. This information can then be used to develop requirements for lunar surface systems. Con- firmation of mafic materials in the lunar south polar region is important both for lunar mission planning and to elucidate the geology of the South-Pole-Aitken basin. Preliminary studies of Scott crater and Mons Malapert suggest that more detailed studies of selected areas in the lunar south polar region will be valuable for lunar landing site and lunar base planning. References: [1] Cooper B. L. (2007) LPSC 38th, Abstract #1377. [2] Allen, C. C. et al. (1994), Space ’94, 1157-1166. [3] Wilhelms et al. (1979), Map I–1162, USGS. [4] Lucey et al. (1998) Figure 3. Clementine 750nm mosaic image of Mons Malapert JGR, 103, 3679. [5] Pieters et al. (1994) Science, 266, 1844. [6] area (85.5ºS, 0ºE). Farrand et al. (1999), New Views of the Moon II. [7] Cooper B. L.
(2006) Space Resources Roundtable VIII. [8] Wilhelms (1979)
USGS Map I-1162. [9] Pieters et al. (2001) JGR, 106, E-11, 28,001.
Figure 4. Clementine color ratio mosaic image of Mons Malapert area (compare to Figure 3). Orange, yellow and green colors are suggestive of mafic materials which are important for ISRU; how- ever additional data is needed to confirm the interpretation of these areas as mafic. Other factors for site selection: Eight factors af- fect the value of an area for a landing site (either for an initial outpost or for an advanced lunar base). These include: (1) having areas nearby that would be useful for ISRU (oxygen extraction from regolith) for life support, habitations and propellant; (2) proximity to a suitable landing site; (3) availability of sunlight; (4) scientific interest; (5) proximity to permanently- shadowed areas for potential in-situ water ice and sci- entific discovery; (6) capability for line-of-sight com- munications with Earth; (7) navigability; and (8) ac- cess to shelter from Solar Energetic Particle Events. 2007 LEAG Workshop on Enabling Exploration 3040.pdf
Executive Summary
Date Prepared: August 24, 2007
Presenter’s Name: Dallas Bienhoff Presenter’s Title: Manager, In-Space & Surface Systems Presenter’s Organization/Company: Advanced Space Systems / Boeing
Presentation Title
Is a LEO Propellant Depot Commercially Viable?
Key Ideas
Depot customers and needs. Potential impact on customer mission Depot concept Business case boundary conditions
Supporting Information
Potential customers of a LEO propellant depot include NASA (lunar exploration, interplanetary probes, GEO delivery), DoD (GEO and HEO delivery), GEO launch service providers (comsats), Bigelow Aerospace, and Shackleton Energy Company. Studies conducted by Boeing in 2006 and 2007 addressed the impact a LEO propellant depot could have on the NASA ESAS architecture for lunar exploration. Solutions ranged from reducing heavy lift requirement 72% to increasing lunar landed mass 325% and depot capacities between 65 and 320 mt. For ESAS-defined systems, landed mass can be increased from 18 to 51 t with a 150 – 175 t depot in LEO. GTO, GEO and interplanetary mission capability can be increased 100 – 200% as well. A modular depot configuration and operational concept developed for the NASA ESAS lunar exploration missions includes a central core truss supporting six propellant tanks serviced by a reusable propellant carrier. Two depots are placed in a 28.5 degree orbit for redundancy and to support two annual lunar missions. Business case boundary conditions include LEO propellant value, LEO propellant sales price, propellant launch cost, depot installation cost, depot operations cost and initial need date.
2007 LEAG Workshop on Enabling Exploration 3041.pdf
PRIORITIES FOR DEMONSTRATING LUNAR ISRU CAPABILITIES. L. S. Gertsch, Space Resources Roundtable, Inc. (www.ISRUinfo.com, 1006 Kingshighway, Rolla, MO 65409-0660, [email protected]).
Introduction: The exploration of space will be ISRU Demonstration Priorities: Mission-based easier when local (in situ) resources are used to pro- demonstrations must satisfy certain criteria: duce items and consumables that otherwise would • Demonstrate sooner rather than later. have to be shipped up from the deep gravity well of • Engage mission architects, whether NASA or Earth. But nothing has ever been produced from raw industrial. materials collected anywhere other than Earth. Can it • Engage the public. be done reliably? How must terrestrial processes be • Meet program needs for launch mass and cost. changed to be viable on the Moon, or on Mars? And • Demonstrate appropriate technology, at appro- how much can utilization of in situ resources (ISRU) priate scales. contribute to the Vision for Space Exploration (VSE) • Serve dual uses: and its potential evolution into the colonization of o Show mission planners what to expect space? from ISRU, and Mission planners need to know such things. Capa- o Prove the technology. bilities and their limitations are most effectively con- • Require in situ lunar demonstration; in other firmed or denied through demonstrations on-site, so words, cannot be performed on Earth. precursor missions should include opportunities to ISRU will generate the most “bang for the buck” demonstrate ISRU processes. The results must be re- (or the ton) when it is applied to: turned in time for follow-up missions. However, the size, number, and duration of precursor missions are Regolith excavation For radiation/micro-meteorite constrained by cost and timing, so hard choices must and transport. shielding and thermal moderation. be made: Which capabilities are so important they Water production. From regolith for life support and must be demonstrated first? radiation shielding. From regolith for life support and Several assumptions about the generic architecture Oxygen production. of the VSE make the ranking of potential ISRU-related propulsion. demonstrations tractable: Fuel production. From regolith for Earth return, lunar surface/orbital science expe- • Human missions will rely upon some ISRU ditions, etc. process(es) by 2022+. Energy production, For outpost use. o The process is mission-enhancing, but transport, storage, not necessarily critical-path. and distribution. • Robotic landers will go to the moon on 2- to 3- Structural and build- For outpost use. year intervals, beginning in the next decade. ing material fabrica- o Robotic landers may be mobile or sta- tion. tionary. Spare part, machine, For outpost use. o Landed payload mass about 500 kg, and tool production. including the power system. Construction and site Using in situ materials and in situ preparation. energy. o Payload mass and power not dedicated totally to ISRU on most missions. These capabilities are demonstrable as single steps, o Power is solar for missions to sunlit regions, and fuel cell for shadowed re- as subsystems, and ultimately as end-to-end systems. gions (lifespan about 2 weeks). Nu- The sub-capabilities can be divided roughly into the clear power is assumed not available. categories of excavation and materials handling, ma- terials processing, and manufacturing. Unrelated
Given these constraints, the Space Resources technologies, or demonstrations of multiple ap- Roundtable makes the following recommendations for proaches to the same end, can share the same mission, which ISRU-related technologies should be demon- especially in the proof-of-concept stages where scales strated during the lead-up to, and the early stages of, are small. the return to the Moon. After that, ISRU is expected The logistics, planning, autonomy, and overall op- to be an integral part of human and robotic presence on erations aspects of the necessary demonstrations (es- the Moon and in the push onward to Mars. pecially the integrated ones) require discussions out- side the scope of this presentation. 2007 LEAG Workshop on Enabling Exploration 3041.pdf
Excavation and Materials Handling: The first o Demonstrate at later stages of planning stage in using any local material is gathering it (aside the return to the Moon. from resource characterization, which ISRU shares • Produce surface construction materials and ca- with scientific studies). Various samples have been pabilities. collected, holes drilled, and trenches dug, but that is o Demonstrate at later stages of planning not enough for mission planning. Can these tasks be the return to the Moon. done repeatedly and autonomously? For how long, before equipment needs repair? How hard will it be to Conclusion: “Living off the land” is a compelling fix? What production rates can be expected? Can strategy for the VSE. But it has never been done any- they provide feedstocks of the properties desired? where other than Earth. The ISRU demonstration mis- Several classes of excavation and materials han- sions outlined here will give mission architects knowl- dling capabilities should be demonstrated, in increas- edge they need to incorporate ISRU in their planning. ing order of complexity: The time lag between missions using each other’s • Robotic precursor – excavate 10 kg of regolith. results prompts parallel mission tracks, especially in o Prove concepts for lunar surface exca- the early stages of the VSE. Later missions take ad- vation and material transport. vantage of earlier mission findings. o Validate analytical models. • Mission 1a – equator o Measure soil mechanics properties per- o Scaleable oxygen production tinent to later needs. o Scaleable digging for feedstock • Excavate regolith for oxygen production. o Characterize waste products o Demonstrate equipment performance. o Study in situ volatiles o Leverage terrestrial deep mining and • Mission 1b – shadowed polar crater small-scale mining technologies. o Scaleable oxygen production o Test systems-level design. o Scaleable digging for feedstock • Excavate regolith for site preparation. o Characterize waste products o Large scale manipulation of regolith – o Study in situ volatiles berms, habitats, shielding, roads. • Mission 2 o Test multiple, teamed excavation units o Longer-duration digging for feedstock for flexible capabilities. o Extract volatiles • Excavate polar regolith for water extraction. o Produce power o Mobility methodologies into and out of • Mission 3 shadowed craters. o Integrated oxygen production at larger o Different techniques required for re- scale, including utilization of byprod- golith-ice mixes than for dry surface ucts regolith than for compacted regolith. o And/or extract water (same complexity Materials Processing and Manufacturing: The as Mission 1) materials processing and manufacturing categories are • Mission 4 grouped at this stage, but as ISRU concepts are o Expanded power production proven, these categories must be broken apart for ap- • Mission 5 propriate incorporation into mission architectures. In o Pilot/sub-pilot scale extraction or pro- order of performance, early demonstrations should: duction, driven by results of Missions • Produce life support consumables. 3 and/or 4 o Oxygen, water, nitrogen. These missions are doable within current time and o Increase safety margin. cost constraints – indeed, they may already be planned • Produce propulsion consumables. for other purposes – and they can generate critical data o Oxygen, water, nitrogen. for mission planners. o Different product specifications than Background: These ISRU demonstration priori- for life support. ties were developed during Space Resources Roundta- o Increase access to space, and safety ble VIII, the eighth annual meeting of the Space Re- margin. sources Roundtable, Inc. (SRR), 31 Oct-2 Nov 2006. • Generate power on-site. Roundtable IX will be 25-27 Oct 2007 in Golden, CO. • Manufacturing on-site. Our website is www.ISRUinfo.com. o Metals, ceramics, spare parts. 2007 LEAG Workshop on Enabling Exploration 3042.pdf
The Role of Robotic Missions in a Lunar Outpost Strategy. M. B. Duke, 1030 Sunset Canyon Dr. S., Dripping Springs, TX 78620.
A coherent strategy for a lunar program leading to a and a sample return mission as separate landers. permanently inhabited lunar outpost should include a Landers should be designed such that they do not have series of robotic missions for science, site selection and tight margins that increase development costs and lead verification, and technology demonstration and early to discarding planned experiments when margins are pilot plants for ISRU. These missions could be carried exceeded in the design process. They should be able to out at a rate of 1-2 per year for 5 years prior to the first carry a variety of packages and deploy them on the lu- human missions and could have the following benefits nar surface. to the program: 1. Conduct high priority lunar science. This Conducting a planned program of six launches al- would answer major science questions and lows recovery of experiments should a mission be lost add important information to that from or misdirected, lowering the overall risk of attaining which a final site for a permanent outpost results desired by the program. Conducting the program would be selected. Scientific progress over a period of 5-6 years allows some feedback of in- made by the program would provide regu- formation from earlier missions to later ones, and into lar and visible accomplishments directly the human program. linked to the sustainability of the human program. A scientific strategy suggested in the NRC report 2. Develop and demonstrate technology, in “The Scientific Context for the Exploration of the particular, lunar resource extraction and Moon”[1] illustrates a possible mission set: (1) one (or utilization (ISRU) demonstrations that two) lunar polar landers to explore the physical and would enhance the performance of the chemical conditions prevailing in and near permanent early human program. Robotic missions shadow; (2) emplace a global geophysical network; (3) that can be launched on Intermediate conduct two sample return missions from the South boosters are capable of emplacing pilot Pole – Aitken Basin; (4) utilize the technology and in- plant scale systems on the lunar surface frastructure developed to target areas such as the Aris- that could provide a cache of consumables tarchus Plateau or the youngest basalt flows. This could or propellants for the first human explor- be combined with emplacement of a global communica- ers. tions and navigation system, demonstration of technol- 3. Answer the question of whether there are ogy for regolith moving and ISRU systems, landing and recoverable resources near the lunar poles. ascent system validation; robotic deployment of power The robotic program can have the goal of gaining systems, and other technology demonstrations. All of global access for the emplacement of a geophysical this could be accomplished by 3-4 New Frontiers class network of up to six stations. The interests of the human missions, probably equivalent to the cost of one human program should include polar, equatorial and intermedi- mission to the lunar outpost. ate sites, including the far side. Although some of these sites will not be visited by humans in the near term, Long-term power is a critical technology for lunar many technology demonstrations do not need to be done surface missions, both robotic and human. Providing at geologically unique sites and can be incorporated into power for long nights, up to 14 days except at the poles, any mission. is essential for survival during the lunar night. Either a new generation of rechargeable energy systems or ra- Costs of the robotic program can be minimized dioisotope devices will be needed to optimize a global by designing a workhorse lander, capable of emplacing robotic program. experiments, conducting demonstrations, deploying rovers and returning samples. Experience in designing Reference: Space Studies Board (2007) The Scientific the Moonrise (South Pole – Aitken Basin Sample Re- Context for Exploration of the Moon, National Acad- turn) mission suggests that a single Intermediate emies Press. launcher from Earth can emplace both a surface station
2007 LEAG Workshop on Enabling Exploration 3043.pdf
LUNAR SURFACE FIELD EXPLORATION INFRASTRUCTURE SYSTEMS REQUIREMENTS DEVELOPMENT – RESULTS OF A DECADE OF ANALOG LUNAR SURFACE EXPLORATION. S. P. Braham1 and M. P. Pires1, 1PolyLAB for Advanced Collaborative Networking, Simon Fraser University Vancouver, 515 West Hastings Street, Vancouver, BC, Canada V6B 5K3, [email protected].
Introduction: The Simon Fraser University (SFU) operations systems to be deployed at other sites in PolyLAB for Advanced Collaborative Networking, a Canada in the future, with an aim of supporting ana- unit of the SFU Telematics Research Laboratory, has logue missions at international locations. over a decade in experience in understanding the re- Many important lessons have been learned from quirements for collaboration and mission operations in SFU analogue mission operations activities, in particu- critical environments. This knowledge has been util- lar in the area of surface communications infrastruc- ized in support of NASA and other space agencies in ture and corresponding “ground” systems infrastruc- analogue mission operations. The underlying work at ture for next-generation mission operations, by learn- SFU has allowed a detailed understanding of Lunar ing to support actual field exploration activities with field surface systems requirements to be developed. live mission operations. The technologies deployed in the field environment are Purpose of ExSOC: The concept of ExSOC is to being found to be increasingly critical to high-fidelity support the integration and management of space ex- robotic and human analog planetary surface explora- ploration technologies in the analogue exploration tion studies, and naturally define a set of requirements activities environment. Supported systems can range for corresponding lunar exploration. Presently the from advanced radio and space communication sys- technology compliment deployed by SFU in human tems to new paradigms for computing and networking analog exploration studies is the most sophisticated in in the space and field exploration environment. Ex- any high-fidelity studies, worldwide. SOC infrastructure and personnel function as a Sys- SFU provides internationally-recognized develop- tems Engineering and Integration (S&EI) facility and ment of advanced analogue mission operations sys- Remote Missions Operations Support Centre tems and highlights the capabilities of analogues to (RMOSC) for CSA-funded and other scientists work- provide platforms for the demonstration and develop- ing on Planetary Exploration Science projects that ment of sophisticated next-generation mission opera- wish to support exploration systems research in their tions concepts, surface exploration technologies, and field environment, or wish to have their field science science operations methodologies. This is especially supported using technologies consistent with planetary true in the case of human exploration of the Moon and surface exploration activities. Mars and, combined with the rich plethora of analogue The SFU laboratories supporting ExSOC have the activies in Canada, has been a major impetus for the largest, world-class, set of systems for field and remote formation of the Canadian Analogue Research Net- mission support of exploration research in Canada. work (CARN) by the Canadian Space Agency (CSA) The facilities may all be used to support exploration [1]. science work, within funding and other project re- SFU work at the Mars Institute’s Haughton-Mars quirements. Project Site on Devon Island, in particular, has allowed ExSOC personnel support field and laboratory ac- for extensive development of requirements for surface tivities, and can utilize the SFU AMECom research computing, communications, and general mission in- vehicle for local field system tests in preparation for frastructure for support of surface activities on the field deployment. ExSOC has a range of base test sys- Moon, especially science-driven field exploration ac- tems and field support systems, and users are able to tivities. provide systems to ExSOC so that they may be pre- The result has been the creation of the CSA-funded configured for field deployment, ready for support by Exploration Systems Operations Center (ExSOC) at ExSOC personnel. SFU. ExSOC focuses on providing exploration sys- ExSOC Services for Exploration Science Sup- tems knowledge and systems concepts for analogue port: ExSOC base costs are covered by the Canadian missions inside CARN, supporting complex mission Space Agency, which covers much development work operations with multiple remote mission operations for support designs for field activities, but does not centers, and proving in-field engineering management include the actual field deployments, or corresponding and support for analogue field activities. equipment base, themselves. The latter are funded New integrated support systems have been devel- through supported projects. Services that have been oped at ExSOC to allow advanced analogue mission developed are as follows: 2007 LEAG Workshop on Enabling Exploration 3043.pdf
Safety Technology Support and Development. field. ExSOC has been critical in development an un- Safety technology is the first need for support of ex- derstanding of the need for commercial off-the-shelf ploration in hostile environments. To support a field (COTS) networking technologies in developing and site, constant testing, integration, and improvements deploying advanced mission operations solutions in are needed in the field safety communications system. surface environments, in particular for human mission ExSOC uses results from field activities to select ap- operations on the Moon, including fully-emulated propriate solutions for radio repeater, power, GIS and space network conditions. SFU results have influenced GPS technologies to support safety requirements. Help many space agencies in concept development for hu- is provided to sites to help them implement appropriate man exploration missions for planetary surfaces [3]. safety infrastructure. SFU has integrated state of the Robotics and other Exploration Technologies Sup- art audio interoperability sysrems into field networks, port. Analogue field sites can be an important testing providing end-to-end Mission Control to field voice ground for new robotic exploration technologies. New support, with end-to-end digital signal processing and technological thrusts have been identified to improve delivery, for life-critical operations, based on standards the teleoperation and communication infrastructure used in safety-oriented agencies, such as those work- needs for robots and human explorers, providing com- ing in Homeland Defense, Fire, Police, Ambulance, plex end-to-end missions operations test environments and other such fields. These techniques allow human for next-generation science operations development. life-critical COTS technologies to be adapted to human Field Network Communications. A major result spaceflight, and corresponding requirements to be de- from SFU research and support activities has been that veloped. the biggest single need in field traverse networking is Vehicle-based Technology Testing and Support. for radio modulation techniques that increase range, AMECom, the SFU TRL research vehicle, has allowed data rates, and decrease size and power usage of sur- the development of integrated computing, communica- face-based radio communication systems. The capa- tions, power, and other infrastructure for support of bilities of the communication systems between hu- fieldwork. The vehicle can support small field pro- mans, or between landers and robots, are a prime limit jects, and allows concept development for larger pro- determination for exploration [4]. ExSOC thus has a jects. The vehicle provides a complete mission opera- large focus on deploying appropriate communication tion support infrastructure, including safety, wireless technologies for Moon/Mars analogue research. This network, and space-based networking systems, and up includes next-generation video and audio communica- to 20 kW of power. Development of concepts for new tions architecture, improving science and mission vehicles, and experiments in vehicles, is also supported management operations and providing major educa- at ExSOC, building upon extensive SFU experience. tional outreach. The result has been the utilization of Science Data Systems. Sophisticated exploration enterprise-grade network infrastructure, with advanced support requires recording, transmission, and manipu- multi-layer IP-based networks and a combination of lation of scientific data. Communications, computing, physical layers from wireless networking through to distributed telemetry technologies, autonomous data optical fiber-based systems, to address the complex collection systems, data conversion systems, and data- requirements of quality of service, security, and flexi- base systems are being developed by the international bility in the modern exploration environment. exploration community for next-generation space ex- References: [1] Braham, S. et al, “Canada and ploration analogue missions [1,2]. ExSOC has been Analogue Sites for Mars Exploration”, Proceedings of providing the basic support expertise, facilities, and the Second Canadian Space Exploration Workshop HQP training required for such projects, to allow ex- (Canadian Space Agency), Calgary, 1999. [2] Hodg- ploration science researchers to utilize these technolo- son, E. et al, “Requirements and Potential for En- gies appropriately, and maintain the level of field sup- hanced EVA Information Interfaces”, ICES 2003, port required for modern exploration field sites. Vancouver 2003. [3] Braham, S., Towards COTS Pro- Space Communications. For field exploration, tocols for Planetary Exploration, Proceedings of the space communication technologies need to be cheaper, Second Space Internet Workshop, NASA GSFC, 2002. easier to set up, and easier to manage. ExSOC has built [4] Braham, S., Anderson, P., and Lee, P., “Mobile on previous study results to accomplish this, working Wireless Networking for Planetary Exploration,” with a range of partners in the Space Internet devel- Keynote Topic, ESA Wireless Data Communications opment community. New network systems are avail- Onboard-Spacecraft Technology and Applications able, and have been tested for the field environment, to Workshop, 2003. provide services for aiding field sites in their system purchases, and then supporting those choices in the 2007 LEAG Workshop on Enabling Exploration 3044.pdf
EXPLORATION ARCHITECTURE VALIDATION THROUGH ANALOGUE MISSIONS – A CANADIAN PERSPECTIVE. M-C. Williamson1, V. Hipkin1, M. Lebeuf1, A. Berinstain 1, 1Canadian Space Agency, 6767 Route de l'Aéroport, St-Hubert, QC, J3Y 8Y9, Canada. ([email protected])
Introduction: The value of activities carried tions. New databases as well as field reports out at planetary analogue sites in preparation for would be compiled in an Experiment Operations human and robotic exploration of the Moon and Document. The resulting Canadian Analogue Mars has already been widely recognised [1-3]. Missions Directory would eventually grow to While maintaining a specific science, test or train- contain information from many teams grouped ing focus, analogue activities, through focused according to mission objectives, type(s) of field reporting, can be tuned to validate significant por- deployments, etc. The expertise gained through tions of exploration mission architectures. An the Program could inform all aspects of explora- Analogue Mission is defined as a fully integrated tion architectures, including planetary mobility set of activities in support of, and/or simulating requirements and astronaut training. It is hoped future exploration missions on the Moon or Mars. that this Directory will be complementary to the Concepts for an Analogue Mission Program are planned NASA Analogs Database. currently at the development stage at the Cana- We present several examples of science, engi- dian Space Agency (CSA) and will directly build neering, and human operations that could be car- upon the successful Canadian Analogue Research ried out during Analogue Missions. The potential Network (CARN) [1, 2]. The resulting databases for international collaboration will also be dis- and reports will contribute to the goals of Can- cussed. The Analogue Mission Program activi- ada's new Space Exploration Program initiative ties will provide an opportunity for scientists, en- and the international Global Exploration Strategy gineers, educators, and students to contribute to (GES). The overarching objective of Analogue the design and planning of future exploration mis- Missions is to move forward from concepts to sions to the Moon and Mars. We expect the pro- results, by building expertise, offsetting costs and jected field deployments and on-site testing of risks, and providing valuable lessons learned, new technologies in particular to foster a renewed while achieving the next era of space exploration. interest in Space Exploration in Canada, and to Analogue Missions: The CSA is currently promote collaboration with International Partners. developing a new Analogue Mission Program with the following short-term (1, 2) and long-term References: (3) objectives: (1) foster a multidisciplinary ap- [1] Osinski, G.R., Léveillé, R., Berinstain, A., proach to planning, data acquisition, processing Lebeuf, and Bamsey, M. (2006) Geoscience Can- and interpretation, calibration of instruments, and ada, 33(4), 175-188. [2] Hipkin, V., Osinski, telemetry during mission operations; (2) integrate G.R., Berinstain, A., and Léveillé, R. (2007) LPS new science with emerging technologies; (3) de- XXXVIII, Abstract #2052. [3] Duke, M.B., velop an expertise at CSA on exploration archi- Gaddis, L.R., Taylor, G.J., and Schmitt, H.H. tecture design from projects carried out at terres- 2006. in Development of the Moon, Rev. in Min- trial analogue sites in Canada [1]. Current ideas eralogy & Geochemistry. 60, 597-649. would solicit Analogue Mission proposals for traditional science, engineering, and/or human factor studies but give value to teams based on the strength of the included operations plan, and potential for operations innovation. Selected Analogue Mission teams would be required to develop planning tools, use mission-specific soft- ware and technology, and report results, detailed tactical operations, major decision points, and lessons learned during analogue surface opera- 2007 LEAG Workshop on Enabling Exploration 3045.pdf
Testing the Terminal Cataclysm Hypothesis with Samples from the South Pole-Aitken Basin. B. L. Jolliff1, D. A. Papanastassiou2, and B. A. Cohen3. 1Department of Earth and Planetary Sciences, Washington Uni- versity, St. Louis, MO 63130
Introduction: A fundamental question of planetary side, so named because it stretches from the South Pole science is what happened in the Solar System, and the to the Aitken crater near the equator (Fig. 1). A sample Earth-Moon system in particular, during the interval of return from this region of the Moon would provide not 4.5 to 3.8 Ga ago. The first billion years of solar system only a means to test the cataclysm hypothesis, but also history and the processes that occurred during this ep- would provide new data to understand the evolution of och and propelled the evolution of Earth and the other the Moon and processes that occurred during the forma- planets were identified by the Decadal Survey as a sci- tion of giant impact basins. entifically broad, crosscutting theme for planetary ex- During the collision of an asteroid with a planetary ploration. A specific top level issue was the question of surface, an enormous quantity of kinetic energy is de- how the impactor flux decayed during the solar sys- posited. The impactor is largely vaporized and rocks in tem’s youth, and in what ways this decline influenced the target region are melted. The explosion resulting the timing of life’s emergence on Earth. from the impact ejects rocks and molten debris from the According to the record derived from the study of impact crater and distributes them around the planet, lunar rocks, the Earth and Moon – and possibly the en- forming thick deposits in regions proximal to the rim of tire inner Solar System – were intensely bombarded by the basin. As the impact melt crystallizes, it locks in asteroid-sized objects, which formed impact basins. radiogenic elements that can be used to measure the Remnants of these are visible today on the Earth-facing crystallization age. In the case of the SPA Basin, the surface of the Moon. Similar impacts on Earth would impact would have penetrated into the lower crust, if have caused global changes in geology and climate that not the upper mantle. surely played a key role in the development and stability The interior of the SPA basin retains its composi- of habitable environments for the origin and early de- tional signature despite the occurrence of numerous velopment of life. Evidence in the lunar rocks suggests smaller and younger impact basins within it. Concentra- that the heavy bombardment was confined to a rela- tions of Fe and Th, determined from orbit, show the tively narrow interval of time, aptly named the “termi- signature of the basin deposits (Fig. 1). The deposits are nal cataclysm” [1,2]. significantly richer in FeO than most of the lunar high- Whether the heavy bombardment was confined to lands, consistent with a deep crustal or upper-mantle such an interval [e.g., 3] or simply represented the wan- origin. They have somewhat elevated Th, but not nearly ing stages of a prolonged planetary accretion [4] is fun- as high as on the lunar near side in the Procellarum- damentally important to understanding the evolution of Imbrium region. Two conspicuous Th highs occur in the the early Solar System. If such a bombardment occurred northwestern part of the basin. Materials from the inte- during a confined interval, what caused it and what rior of the basin, where the compositional signature is were the effects on the early Earth? Recent dynamical strong, provide the best chance of obtaining SPA impact modeling suggests that a shift in the orbits of the outer melt. Materials excavated from deep within the impact planets could have caused the ejection of objects from site would be distributed in the ejecta deposits along or the primordial trans-planetary belt into the inner solar beyond the rim of the basin, where they would be mixed system at about 600 my following planetary accretion with pre-existing upper-crustal substrate. [5-8]. This remarkable model result has tremendous Ideally, a field geological expedition might explore a implications for the early evolution of the Solar System. broad region and sample large rocks of known geologic Finding rocks to test the Cataclysm hypothesis: formations from multiple locations in and around the The ancient rocks needed to test the cataclysm hypothe- SPA basin to find basin impact-melt rocks and deep- sis are extremely scarce (or do not exist) on Earth be- seated materials. However, a more feasible and better cause erosion and tectonic processes have erased most approach is to take advantage of the vertical and lateral of the ancient rock record from those times. However, mixing provided by the post cataclysm impacts, of such ancient rocks and geologic terrains do exist on the lesser intensity and, therefore, more likely to have pre- Moon and are accessible to test the hypothesis. The served the earlier chronologic record. The goal is to approach advocated here involves the collection and collect a diverse sample composed of small rock frag- return of rock samples to Earth for geochemical and ments that are ubiquitous and abundant in the regolith. petrologic analysis and radiometric age dating. The From Apollo experience, the bulk of these small rock location of samples needed to address the issue is the fragments are representative of the larger rocks that giant South Pole-Aitken (SPA) Basin on the lunar far occur in a given location [9]. Experience from Apollo 2007 LEAG Workshop on Enabling Exploration 3045.pdf
also taught us how to relate regolith samples to local We propose to use multiple isotopic dating systems site geology. Using regional remote sensing and knowl- and to compare results from systems that are prone to edge of the variety and relative abundance of rock types resetting (and may thus reflect events more recent than from such samples, the rock distribution can be related the terminal cataclysm) and systems that are less easily to remotely sensed site geology. From the diversity of reset (and may thus reflect the terminal cataclysm and materials found in a regolith sample, coupled with ob- events preceding the terminal cataclysm, if SPA forma- servations from orbital remote sensing and from descent tion predates the 4.0-3.9 events). Judging by mature and surface imaging, the effects of local and regional Apollo regolith samples, 1 kg of rock fragments greater geologic features, especially impacts, can be under- than 2 mm would (conservatively) yield some 10,000 2- stood. The range of ages, and intermediate spikes in the 4 mm particles, over 3000 4-10 mm fragments, and a significant number of rocklets >1 cm. The key is that age distribution, as well as the oldest ages, are all part we now have the sensitivity to measure such small sam- of the definition of the absolute age and impact history ples, in our labs, and take advantage of the diversity in recorded within the SPA Basin. chemistry and processes of formation that they provide. Geochronology: Of critical importance to SPA sci- References: [1] Tera et al. (1974) Earth Planet. Sci. ence goals is the capability to determine precise ages of Lett., 22, 1-21. [2] Baldwin (1974) Icarus, 23, 157-166. small and, in most cases, complex (breccia) samples. [3] Ryder et al. (2000) in Origin of the Earth and Moon, The goal of assigning an absolute age to the SPA event Canup and Righter, Eds, 475-492, Univ. Ariz. Press; can be attained with varying degrees of confidence by [4] Hartmann et al. (2000) in The Origin of the Earth and direct and indirect means. The goal can be achieved Moon, Canup and Righter, Eds., 493-512, Univ. Ariz. Press; directly by dating a sample of the original crystalline [5] Tsiganis et al. (2005) Nature 435, 459; [6] Morbidelli et SPA impact melt. Such a sample may be preserved al. (2005) Nature 435, 462; [7] Gomes et al. (2005) Nature within SPA or may be preserved as clasts of crystalline 435, 466; [8] Bottke and Levison (2007) in Wkshp on Science impact melt, incorporated into later-formed breccias. Assoc. with Lunar Exploration Architecture, Tempe, Arizona. Such clasts can be extracted and dated [10]. Crystalline [9] Jolliff et al., 2003, Lunar Planet Sci. 34, #1989; impact melt produced by post-SPA basins (e.g., Fig. 1) [10] Cohen et al. (2000) Science, 290, 1754-1756; [11] Bo- can be dated to provide additional constraints. Petro- gard et al. (2000) GCA, 64, 2133-2154; [12] Dalrymple and logic and geochemical information will help to confirm Ryder (1996) JGR-P, 101, 26,069-26,094. [13] Lawrence et that the oldest event in a distribution of ages is indeed al. (2000) JGR, 105, 20,307; [14] Lawrence et al. (2002) JGR, the SPA event. 107, JE001530.
Planck Planck
FeO (wt%) Thorium (ppm)
3 7 14 0.4 2 4
Figure 1. Compositional images of the South Pole-Aitken Basin superimposed on merged shaded relief and Clementine 750 nm base images. FeO and thorium are half-degree resolution from the Lunar Prospector gamma-ray spectrometer data [13-14]. Locations of South Pole, Aitken crater, and some of the large craters and basins interior to the SPA basin shown for reference. 2007 LEAG Workshop on Enabling Exploration 3046.pdf
ENABLING EXPLORATION: ROBOTIC SITE SURVEYS AND PROSPECTING FOR HYDROGEN. R. C. Elphic1, L. Kobayashi2, M. Allan2, M. Bualat2, M. Deans2, T. Fong2, S. Lee2, V. To2, and H. Utz2, 1Space Science and Applications, Los Alamos National Laboratory, Los Alamos, NM 87545, [email protected], 2Intelligent Robot- ics Group, NASA Ames Research Center, Moffett Field, CA 94035 .
Introduction: One of the central challenges for lu- nar exploration is to mature and validate the system- level concepts of in-situ resource utilization (ISRU) and surface operations including mapping, surveying and prospecting. In particular, identifying and quanti- fying the distribution of polar volatiles (especially bur- ied water ice in permanently shadowed craters) is es- sential for determining to what extent ISRU will play a role in lunar exploration. Although remote sensing (e.g., using the numerous sensors carried by LRO) can provide much information, prospecting for subsurface resources can only be performed directly on the sur- face. In particular, mapping the lateral and vertical distribution of hydrogenous resources on sub-meter scales requires surface activity. Background: For the past two years, the Intelli- gent Robotics Group (IRG) at NASA Ames Research Center has been developing a multi-robot system for performing systematic site surveys [1,2]. During July 2007, IRG used this system to survey multiple sites in Fig. 1. The K10-black rover, with the HYDRA neu- Haughton Crater (Devon Island, Canada), including a tron spectrometer mounted at the front (outlined in roughly 700 m x 700 m region called "Drill Hill". Two red). Power, command, and telemetry is provided by NASA Ames K10 rovers were equipped with the JPL the rover. The inset shows a close-up of HYDRA. CRUX ground penetrating radar (to map subsurface ranges make it possible to estimate both burial depth layers) and an Optech 3D scanning laser (to map sur- and abundance at depth below a dry surface regolith face topography). layer. This has been demonstrated in previous testing In August 2007, we integrated the HYDRA neutron at much smaller scales [3]. The spatial extent of a spectrometer, developed by Los Alamos National given deposit is provided using the rover’s mobility, by Laboratory, with a K10 rover. HYDRA is a small neu- mapping the neutron response with position. tron spectrometer designed for lander or rover-based Test Setup: A relatively level test site, approxi- detection of surface and near-subsurface hydrates. mately 40m x 40m in extent, will serve as a proxy for HYDRA makes use of technology derived from the the lunar surface. It is devoid of vegetation and has no LANL sensors carried by Lunar Prospector and has buried utilities or other hydrogenous materials. The been matured to nearly TRL 6. It is ideal for rover- soil itself contains some clay, so some water of hydra- based operations, being low mass (0.5 kg), low power tion will be present even where there are no deposits. (1.8 W) and compact (18x12x6 cm). We will report on Within the test area, several holes will be excavated prospecting tests conducted at NASA Ames in Sep- and one of two materials will be emplaced at various tember, 2007. Figure 1 shows the HYDRA neutron depths. For some holes, 10-cm thick stacks of poly- spectrometer mounted on a fixture at the front-end of ethylene serve as proxies for 100-wt% ice deposits, as the K10-black rover. The sensors are located some 15 shown in Figure 2. At other holes, 15-cm thick stacks cm above the ground. of gypsum board serve as proxies for either hydrous Test Objectives: The purpose of the rover test is minerals or interstitial (pore) ice having 21 wt% water- to demonstrate the utility of HYDRA in prospecting equivalent hydrogen. for near-surface hydrogenous deposits, such as might On the lunar surface, cosmic rays constantly im- be found in permanently shadowed polar craters on the pinge on the regolith and create a steady state popula- Moon. But by measuring both thermal and epithermal tion of fast neutrons within the soil. But for terrestrial neutrons, it is possible to extend this capability to de- testing, a neutron source is needed to interrogate the posit characterization. In particular, the two energy 2007 LEAG Workshop on Enabling Exploration 3046.pdf
posit is 1-m by 1-m in size, and the rover traverse speed is 20 cm/sec. Suitable Poisson statistics are in- cluded in the calculation, to give a sense of the effects of noise. All deposits should be clearly detected based on this calculation. We will compare the test results to the simulated results, and explore the ramifications for robotic sur- face exploration at the lunar poles.
References: [1] Fong, T. et al. (2007) LPS XXXVIII, Abstract 1487, Houston, TX. [2] Fong, T. et al. (2006), AIAA-2006-7425, AIAA Space 2006, San Jose, CA. [3] Elphic R. C. et al. (2007) Astrobiology, in press.
Fig. 2. Emplacement of polyethylene slabs as proxies for water ice. The measured neutron response to a buried deposit depends on burial depth, total hydrogen content, and composition of the overburden.
subsurface. The rover will carry a Californium-252 neutron source mounted next to the HYDRA sensors. The activity of this source is approximately 2x106 n/sec, with a mean neutron energy of ~2 MeV. Fast neutrons from this source penetrate the soil and inter- act with the materials found there. Deposits with high abundances of hydrogen preferentially moderate (slow down) and thermalize the fast neutrons. Some of these
moderated and thermalized neutrons leak out of the Fig. 3. (Top) Thermal neutron count rate for 100- subsurface and are detected by the HYDRA sensors. wt% and 21 wt% H2O-equivalent deposits, each 1-m The leakage flux of thermal and epithermal neutrons by 1-m, buried at 30, 15 and 5 cm depths. (Bottom) depends on the burial depth, the net hydrogen content Epithermal neutron count rate for the same deposits. of the buried deposit, and the composition of the over- burden. The prospecting test will be carried out in a single- blind mode. The rover will execute a planned set of traverses, each providing a transect across the test area. Traverse planners will not have knowledge of the de- posit locations. Consequently deposit discovery and characterization will only take place if the rover “stumbles upon” a neutron hot spot. Expected Results: Tests carried out previously on the CRUX project have shown that it is possible to detect buried deposits, and even to characterize their spatial extent, burial depth and the deposit’s water- equivalent hydrogen abundance. We expect similar results here, but from a far more realistic roving sce- nario. Phase 1 will involve executing the transects with 1-meter spacing. The nominal driving speed is planned to be 10 cm/sec, but it is likely that sufficient signal-to-noise can be achieved with 20 cm/sec. Figure 3 shows the calculated maps obtained from 100-wt% and 21 wt% H2O deposits at various burial depths, for a subset of the planned test area. Each de- 2007 LEAG Workshop on Enabling Exploration 3047.pdf
EXPLORATION OF CARBON-BEARING MATERIALS ON THE MOON. Y. Miura, Inst. Earth Sci., Graduate School of Sci. & Eng., Yamaguchi University, Yoshida 1677-1, Yamaguchi, 753-8512, Japan, [email protected]
Introduction: All elements on the Moon as exploration Carbon abundances on the Moon: Carbon element is are mainly discussed on the elements based on Apollo strongly richer in crustal rock of the Earth (ca. 25 times mission rocks. Carbon element which is inevitable for higher) than lunar rock in the Moon (cf. Fig.1). However, circulation sysyem on the active Earth and expected life
activity on the Moon and Mars is considered to be explored. C and N abundances
In order to explore carbon element on the Moon, suitable 250000 locations on the Moon are analyzed in this paper. Carbon abundances in the Universe and the Solar 200000 System: Four elements of hydrogen (H), oxygen (O), carbon 150000 (C) and nitrogen (N) are inevitable for human and living C N resources for circulation system. From elemental abundances 100000 of elements C, H, O and N in Universe, the Sun, Content (ppm) carbonaceous meteorites, and crustal rocks, sea water and 50000
human on Earth [1, 2], the followings are characteristic. 0 1) Element H is abundant in Universe and the Sun than in Sun MeteoriteC Crustal R Sea Water Human Location terrestrial materials of water and human. 2) Element O is much on the Earth as water, human and Fig.2. Elemental abundances of carbon and nitrogen in the crustal rocks. Sun, carbonaceous chondrites, and terrestrial materials of 3) Elements C and N are the same behaviours that much crustal rocks, sea water and human body [1, 2]. concentration in human body than in any extra-terrestrial materials. In comparison, nitrogen element is rich in terrestrial Meteorites of carbonaceous chondrites are main sources atmosphere but very poor in crustal rock of the Earth due to of elements C, N and O in the Solar System (except the much concentration to human body. Nitrogen on the Moon is human body), as listed in Fig.1. This suggests that three rich in surface rocks formed by impacts (ca.3.5 times higher) elements C, H and N are concentrated elements in the Solar than rocks in the Earth. Therefore, nitrogen is rich on the System by impact growth process [2, 3] due to richer lunar rocks [1-3]. elements than the Sun and the Universe. As most abundant Extra-lunar origin of carbon element on the Moon: materials of the three elements are human body and sea- Extra-lunar origins of carbon can be found at fine breccias of water of the Earth, then rock materials are main resources of regoliths on the Moon [4, 5]. In fact, Figure 3 shows that elements O and C when we go out from the Earth which carbon and nitrogen are richer in fine regolith breccias than there are concentrated materials of the four elements of C, H, hard rocks of Apollo mission [4, 5], ca. 3.6 higher than hard O and N (Figs.1 and 2). rocks. The above consideration indicates that when we go to the Moon to explore lunar resources, main resources of three Ca and N contents on the Moon elements of H, C and N are mainly supplied from
carbonaceous chondrites on impact-related rocks on the 250 Moon (except H from the Sun), though element O is rich in 200 lunar rocks as in the same as crustal rocks of the Earth. 150 Loc/ppm H O C N C N Universe 750000 10000 5000 1000 100 Content (ppm) Content Sun (S.S.) 750000 9000 3000 1000 50 C.Meteor. 24000 410000 15000 1400 0 Earth C R 1500 460000 1800 20 fine brec coarse bre fine rock med rock Earth S W. 107800 857000 28 0.5 Lunar sample Earth Hum 100000 610000 230000 26000 Fig.3. Carbon and nitrogen contents of Apollo lunar samples
as fine and coarse regolith breccias, fine rock and medium Fig.1. Elemental abundances of C, H, O and N in Universe rock [4, 5]. and the Solar System of the Sun, carbonaceous meteorites, and Earth materials of crustal rocks, sea water and human Impact carbon cycles of lunar system: Although body [1, 2]. there are no report on active carbon cycles on the
2007 LEAG Workshop on Enabling Exploration 3047.pdf
Moon, but impact-induced reaction on the Moon can References: be expected between lunar rock and fine liquid-vapor [1] University of Sheffield (2006): Periodic table web- system. Due to no large liquid state of sea-water on the elements. http://www.webelement.com Moon, large cycle of carbon system as in Earth (to [2] Miura Y. (2006): Workshop on Early Planetary form limestone and coal etc.) [6-11] cannot be found, Differentiation (LPI, USA), CD#4051. but very small cycle of carbon system on the Moon [3] Miura Y. (2006): Workshop on Workshop on Mar- should be found. In fact, there are reports on Apollo tian Sulfates as Recorders of Atmospheric- Fluid-Rock lunar sample as carbon and carbide minerals as tiny Interactions (LPI, USA). CD#7001. fragments. Therefore, there is possible impact carbon [4] Heiken G.H. et al. (1991): Lunar Sourcebook cycle system on the Moon by two types of projectiles: (Cambridge Univ. Press), 357-474. 1) Extra-lunar impacts by comets to produce fluid [5] Bishop J. L. et al. (1998) J.G.R., 103, 31457- carbon states on the Moon. 31476. 2) Normal heavy impact by carbonaceous and/or iron [6] Miura Y. (2006) Antarctic Meteorites (NIPR, To- meteoroids to form carbides with silicon and iron on kyo), 70-74. the Moon. [7] Miura Y. (2006), LPS XXXVII, abstract （LPI/ 3) Carbon storing process on the Giant impact to form USRS, USA). CD #2441. the primordial Moon. [8] Miura Y. (2006) 2nd Hayabusa Symposium (Univ. Carbon transported from deeper places of the Moon Tokyo), 49-50. will be future underground exploration on the Moon [9] Miura Y. (2006): Workshop on Spacecraft (Table 1). Reconnaissance of Asteroid and Comet Interiors, CD Elements rich in meteoroids compared with the #3008. terrestrial crust: Apollo lunar samples indicate extra- [10] Miura Y. (2006): ICEM2006 symposium abstract lunar elements of Pt-group elements and so on from paper volume (Yamaguchi University, Yamaguchi, meteorites are found in breccias samples [4, 5]. From Japan). 102-103, 112-113. elemental abundances of carbonaceous meteorite and [11] Miura Y. (2006): LPS XXXVII, （ LPI/ USRS, terrestrial crusts [1,2], carbon element (rich in USA). Submitted. carbonaceous chondrites) to form some minerals is [12] McKay D.S. et al. (1996): Science, 273, 924-930. higher abundance than terrestrial crust which can be [13] French B. M. (1998) Trace of Catastrophe. LPI applied to lunar surface. In fact, C is 5.8 times higher, Contribution No.954 (LPI, Houston, USA). pp. 120. than crust of Earth (Table 1).
Table 1.. Location to find carbon element on the Moon [2-11].
Location of exploration Remarks Impact sites near craters Impact cyclic system Underground of breccias Impact mixing Transportation process Volcanic up-lift
Summary: The present paper is summarized as follows: 1) The Moon has small cycle of major C-H-O-N elements by projectile impacts of meteoroids or comets. 2) Extra-lunar supply of carbon on lunar regolith breccias by carbonaceous meteoroids and comets are considered to be during shock wave impact event. 3) Locations on the Moon to explore C elements are sites of regolith breccias and volcanic transportation of the Moon. 4) Numerous impact events on the Moon are considered to form local cyclic reaction of element C from primordial age of the Moon. Acknowledgements: Author thanks for discussion on the Apollo lunar samples. 2007 LEAG Workshop on Enabling Exploration 3048.pdf
ROBOTIC COMPONENTS AND SUBSYSTEMS ENABLING LUNAR EXPLORATION: STATUS UPDATE. K. Davis1, G. L. Paulsen1, and K. Zacny1, 1Honeybee Robotics, 460 W 34th St., New York, NY 10001 ([email protected])
Introduction: NASA is planning long-duration Extreme temperature motors and resolvers that op- missions to the Moon starting by the end of the next erate at ambient temperature extremes as high as decade. The extreme thermal and dust conditions of 460°C and pressures as high as 90 bar are also being the lunar environment coupled with the need for reli- developed. There is nothing that precludes the tech- able, long-life robotic devices challenges the current nology from also functioning well in vacuum and at state of the art of space mechanisms. Honeybee Robot- the cold extremes. A switched-reluctance type motor, ics is engaged in the development of various mechani- which does not use permanent magnets, has been de- cal and electro-mechanical technologies on the com- veloped and prototypes have demonstrated the capabil- ponent and subsystem level that will enable extended ity to operate for hours (and potentially indefinitely) lunar exploration and habitation. This abstract pro- under these extreme conditions. Development of a vides an overview of this organization’s relevant work extreme environment permanent magnet brushless and the status of the development efforts. motor and a brushless resolver is just beginning, see Componenet Level Technologies: Honeybee is Figure 2 below. Honeybee plans a family of actuators developing a number of component level technologies and resolvers spanning the low to medum speed-torque that are applicable to robotic and robot-assisted lunar range most commonly used by robotic mechanisms. exploration. These include: • Compact Gear-Bearing Transmissions for Cryo- genic Long-Life Applications. • Extreme Temperature Switched Reluctance and PM Brushless Motors. • Extreme temperature Brushless Resolvers. • Extreme temperature Brushless Slip-Rings. • Quick-Insertion Fasteners for Rapid Robotic or EVA-compatible Assembly of Space Structures. • Dust tolerant mechanical and electrical connec- tions. The Compact Gear-Bearing transmission, shown in Error! Reference source not found., offers mass Figure 2. Extreme temperature motor and resolver
savings and reliability advantages of more conven- Running electrical power and data signals across a tional planetary and harmonic drive gear transmissions continuously rotating interface is a common challenge due to its simplicity. Materials and coatings work is in many robotic devices. Honeybee is continuing de- under way to adapt the design for cryogenic-vacuum velopment of its brushless slipring, shown in Figure applications down to 40 Kelvin. This scalable mecha- 3Error! Reference nism is envisioned for a range of applications includ- source not found., which ing robotic arm joints or excavator actuator transmis- is designed to reduce sig- sions. Prototypes have been tested in vacuum at a tem- nal noise, wear, and parti- perature of 110K. clulate generation and im- prove heat dissipation, all issues that plague conven- tional brushed slip rings. The design features rolling Figure 3. BL Slip Ring contacts to transmit elec- trical power and signals through a continuously re- volving joint. By virtually eliminating sliding contact, the life of the mechanism is increased. Quick and easy assembly methods will be essential to the construction of lunar outposts. The Quick Inser-
Figure 1. Gear-Bearing Transmission Prototype tion Nut, shown in Figure Error! Reference source not found.4, was originally developed for NASA as 2007 LEAG Workshop on Enabling Exploration 3048.pdf
an EVA-compatible structural fastening method that Two subsystems have been developed specifically would also work for robotic on-orbit assembly sys- for collecting and accessing lunar surface and subsur- tems. A compliant split-nut face material. The Pneumatic Lunar Regolith Excava- design allows for rapid bolt tor utilizes the flow of exhaust gases from a combus- insertion while tolerating a tive reaction to collect regolith. Testing of a system high degree of misalign- that utilizes this process showed that approximately ment during the insertion 3000 grams of lunar regolith simulant could be col- process. Less than one lected with only 1 gram of air. The second subsystem, revolution is required to shown in 6, is a rotary percussive sampling drill. The preload the joint. Honey- Figure 4. Quick In- Construction & Resource Utiilization eXplorer bee is currently developing sertion Fastener (CRUX) drill was designed for penetrating a water a concept for rapid assem- ice/lunar regolith mixture to a depth of approximately bly of spacecraft bus structures with the AFRL. The 2 meters. The drill was designed to carry a sample concept includes the Quick Insertion technology and acquisition mechanism as well as down-hole instru- provides a means for simultaneously making electrical ments (e.g., mechanical properties probe, spectron- and thermal connections. meters). This research took place in 2005 with the US One of the biggest problems in the exploration of Army CRREL. Honeybee is currently seeking funding the moon and other planets is the effects of dust on to continue development of the CRUX drill. mechanisms. In the Apollo missions, dust quickly coated everything including the astronaut’s suit, boots, gloves and other mechanisms they used to explore the moon. Honeybee Robotics is in the early stages of devel- oping reusable connection mechanisms capable of op- erating in a dusty lunar environment. The research carried out so far has concentrated on characterizing the problem, defining requirements and fabrication of several breadboard connector concepts. Additional work is focusing on mating features for self- assembling (robotic) mechanisms. The study includes experimenting with assembly techniques and geome- tries to minimize the failures induced by dust buildup in mechanisms. Figure 6. CRUX rotary percussive sampling drill. Honeybee is also beginning development a robotic- arm based Low-Reaction Force Regolith Digging Tool. This tool utilizes percussive technology to pene- trate strongly cemented regolith with very little reac- tion force provided by the robotic arm. The work builds on the recent development of an Icy Soil Acqui- sition Device (ISAD) for the 2007 Phoenix Mars Lan- der.
Figure 5. Dust Tolerant Connector breadboards
Subsystem Level Technologies: In addition to the component level technologies, complete subsystems have are also at various stages of development at Hon- eybee. These technologies include: • Pneumatic Lunar Regolith Excavator. • 2-meter Rotary Percussive Sampling Drill. • Low-Reaction Force Regolith Digging Tools.
Figure 7. 2007 Phoenix ISAD 2007 LEAG Workshop on Enabling Exploration 3049.pdf
Aristarchus Plateau as an Outpost Location. Bradley L. Jolliff1 and Jiang Zhang1,2,3, 1Dept of Earth and Plane- tary Sciences and the McDonnell Center for the Space Sciences, Washington University, St. Louis, Missouri 63130, USA [email protected]; 2Department of Space Science and Applied Physics, Shandong University ,Weihai, Shandong 264209, China; 3School of Physics and Microelectronics, Shandong University, Jinan, Shandong 250100, China.
Introduction: The Aristarchus region of the Sited in a compositionally unique terrane: The Moon is one that has long fascinated scientists and Aristarchus region lies in the northwestern part of telescope enthusiasts, alike. The Aristarchus Plateau, Oceanus Procellarum. This region is in a vast volcani- located around 25° N and 50° W, in the northwestern cally resurfaced area that includes volcanic domes quadrant of the Earth-facing side of the Moon, in- (Mairan Domes, Gruithuisen Domes) and the huge cludes the bright-rayed Aristarchus Crater, 40 km in pyroclastic deposit that is prominently shown in color diameter and some 3 km deep. The crater lies at the ratio images (Fig. 2). Lunar Prospector gamma-ray southeastern corner of a broad volcanic plateau that is data showed the region to be one of enrichment in the known for its large pyroclastic deposit and for the radiogenic element thorium, even though most mare prominent lave channel, Vallis Schröteri, that emanates basaltic lunar samples are low in thorium concentra- from the “Cobra Head” vent just north of the 35 km tion. This led to the interpretation that some of the flooded crater Herodotus. The area is rich with vol- volcanic rocks of this region might be enriched, e.g., canic features and is surrounded by lava flows of >5 ppm Th). Analysis of data for other elements espe- Oceanus Procellarum (Fig. 1). Other interesting and cially FeO, indicates that materials from beneath the scientifically important features are located in the re- lava flows, especially those exhumed by Aristarchus gion, including Lichtenberg crater, some 600 km to the crater itself might represent igneous bodies made up of west-northwest and the Gruithuisen domes, some 300 the most chemically evolved and differentiated rock km to the northeast. types known from the lunar samples [3-5]. At present, The purpose of the abstract is to recommend that such rock types are known only as small fragments of the Aristarchus region continue to be considered as a rock found in regolith from Apollo 12, 14, and 15, and possible candidate for a lunar Outpost [1,2] and to two lunar meteorites. Remote sensing data that demon- present some of the scientific rationale for such con- strate these relationships are shown in Fig. 3. The data sideration. for FeO vs. Th form a triangular mixing array with
Gruithuisen Domes
Lichtenberg Crater
Vallis Schroteri
Figure 1. Aristarchus region in Clementine UV-VIS false color, overlain on shaded relief, with some of the prominent features labeled. Vallis Schröteri is about 160 km long, 11 km wide, and 1 km deep. The rille (lava channel) begins at a vent, named the “Cobra Head.” Aristarchus Crater is about 40 km in diameter. Flooded crater Herodotus lies just to the west of Aristarchus. 2007 LEAG Workshop on Enabling Exploration 3049.pdf
Figure 2. Aristarchus region (a) Clementine 750 nm image, showing very high albedo fresh Aristarchus Crater surrounded by low-albedo mare basalts; (b) Clementine UVVIS-derived FeO “image” (c) Clementine ratio image: Red = 750/415nm Green = 750/950nm Blue = 415/750nm, with dark mantle deposit [e.g., 6] showing up as red; (d) Lunar Pros- pector half-degree Th image [7] and. Compared to surrounding mare basalts, Aristarchus Crater has (a) (b) lower FeO (< 14 wt.%) and very high Th (~11 ppm) concentrations. In (b), some of the lowest FeO pix- els (black in the FeO image) suggest that perhaps anorthosite or granite were excavated. If anortho- site, then high Th concentration suggests it is “al- kali” anorthosite.
(c) (d) thorium-rich basalt at the high-FeO apex, feldspathic References: [1] Santa Cruz Summer Study non-mare material at the low-FeO and low Th apex, (1967) NASA SP-157; [2] LEAG (2005) Science Activi- and KREEP at the high-Th apex. When all of the data ties and Site Selection - Specific Action Team Rpt 7-11-05; in the region are plotted, a trend extends to very high [3] Flor et al. (2002) LPSC33, abstract #1909; [4] Flor et al. Th content, significantly higher than KREEP. The (2003) LPSC34, abstract #2086; [5] Jolliff et al. (2004) extrapolation of this trend, which we refer to here as LPSC35, #2032; [6] Gaddis et al. (1985) Icarus, 61, 461- the “Aristarchus effect,” indicates the presence of 489. [7] Lawrence et al. (2000) J. Geophys. Res., 105, “monzogabbro” as a major rock type, perhaps as a 20,307-320,331. subsurface intrusive rock body that, along with alkali Acknowledgements. Jeff Gillis and Erica Flor are anorthosite, was partly excavated by the Aristarchus thanked for their excellent work on remote sensing of north- impact. western Oceanus Procellarum which forms the basis of much of what is presented here. This work was supported by Conclusion: In terms of science interest, diversity NASA grant NNG05GI38G. of geological features, and potential public interest,
both through the capability to see Geologic map with Th overlay; colors correspond to inset Earth and be seen from Earth, the at right. Data shown for extended region at lower right. Aristarchus region is ideal in many aspects for an Outpost location. Besides being one of the brightest and most prominent features on the Moon’s Earth-facing side, the region lies within a compositionally ex- treme location of the Moon, one that Arrows above correspond promises new and important discov- to red arrow below. 20 eries for lunar geoscience in terms of Ap 14 Impact- 18 Trend extrapolates melt Breccia to ~28 ppm Th at 10% FeO evolved igneous rock types and new 16 -KREEP - varieties of volcanic materials. The 14 Apollo 14 12 Soil site should be given high priori to 10 determine the resource potential of 8 Basalts exposed materials and for considera- 6 4 Nonmare Highlands tion as a potential location for astro- 2 0 physics, heliophysics, and Earth 0 5 10 15 20 25 observation experiments. FeO, wt.% (CSR) Figure 3. Chemistry of Aristarchus region.
2007 LEAG Workshop on Enabling Exploration 3050.pdf
Executive Summary
Date Prepared: 27 August 2007
Presenter’s Name: Ken Davidian Presenter’s Title: Commercial Development Strategy Lead Presenter’s Organization/Company: NASA HQ
Presentation Title
ESMD Commercial Development Strategy Overview
Key Ideas
NASA’s Exploration Systems Mission Directorate (ESMD) understands the benefits to a thriving commercial space industry and has developed a strategy that will help the space agency accomplish its exploration goals through the acquisition of commercial space capabilities. This presentation gives the goals and rationale of the ESMD Commercial Development Strategy (ECDS). The statements of authority and of policy supporting this strategy are provided and the evolution from the more traditional NASA Technology Commercialization Policy to the ECDS is described. The barriers of entry targeted by the ECDS and its basic elements are given. An approach to identify candidate commercial space capability industries for development is also described.
Supporting Information
This presentation describes the standard framework with which to evaluate, prioritize, and select proposed ESMD programs, projects, and activities with respect to “encouraging commercial space capabilities”.
At the level of NASA Headquarters (HQ), ESMD is responsible for all exploration-related activities across the agency. Programs and projects within ESMD must develop and execute tasks and activities that support NASA's exploration mission goals.
The ESMD Commercial Development Strategy (ECDS) is a comprehensive set of goals, approaches, strategic elements, and evaluation and selection criteria for program and project tasks and activities in fulfillment of the NASA Strategic Plan Goal 5, "Encourage the pursuit of appropriate partnerships with the emerging commercial space sector".
The ECDS has been developed and supported by individuals from other mission directorates and mission support offices within NASA HQ, as well as with significant contributions from ESMD personnel located at various NASA field centers throughout the country. 2007 LEAG Workshop on Enabling Exploration 3052.pdf
Executive Summary
Date Prepared: August 30, 2007 Presenter’s Name: Luke Erikson* Co-Authors: D. Baker*, W. L. Rance*, E. Spahr†, A. Abbud-Madrid*, and M. B. Heeley* Presenter’s Organization/Company: *Colorado School of Mines †College of William and Mary
Presentation Title
Meteorite Collection on the Lunar Surface
Key Ideas
A key requirement for successfully exploring and understanding the solar system is the availability of material samples for analysis. The best lunar science is occurring today due to advancing laboratory techniques coupled with the lunar samples retrieved during the Apollo missions. It is clear extra-terrestrial samples are valuable – unfortunately using current retrieval technologies the amount retrieved is often negligible and the cost of collection is prohibitive. As part of the 2007 Lunar Ventures competition Kronos Technologies submitted a proposal describing a novel sample retrieval technology to collect larger and more diverse meteorite samples.
Approximately 10 million sizable meteorites have impacted the Earth during the last 200 years and there is significant evidence that the meteorite impact rate on the Moon is much higher. Based on published results a plan is formulated to actively detect and collect meteorites impacting the Earth. With the Earth as the initial focus, our preliminary studies suggest a natural progression to the Moon.
Field trials could begin in the American Southwest by analyzing data from a variety of sources. Candidate impacts can be detected in a variety of ways such as seismic data and satellite imagery. Evidence suggests computer algorithms could successfully discriminate meteorite impacts from human and natural geologic activities to produce candidate sites for retrieval. During the site search other sensors can be used, including active seismic surveys, magnetic detection and visual inspection.
Each successful recovery mission on Earth would provide a specimen and the opportunity to refine the detection and collection techniques for later deployment on the lunar surface.
2007 LEAG Workshop on Enabling Exploration 3053.pdf
Executive Summary
Date Prepared: 8/9/07
Presenter’s Name: Harrison H. Schmitt Presenter’s Title: Lunar Sample Return: Reprise Presenter’s Organization/Company: Self
Presentation Title
Lunar Sample Return: Reprise" will be a discussion session with the LEAG related to questions about Apollo sample collection, documentation, and return issues and how improvements can be made in a return to the Moon.
Key Ideas
Collect some big samples as well as small ones.
Automate documentation with rover and helmet mounted stereo video systems that include real-time ranging, high resolution modes, and integration with navigation data and voice activated, heads up displays in the EVA suit.
Develop in situ measurements of those parameters that may be affected by sample exposure to spacecraft cabin and/or terrestrial contamination.
Supporting Information
N/A
2007 LEAG Workshop on Enabling Exploration 3054.pdf
Executive Summary
Date Prepared: 31 August 2007
Presenter’s Name: Jeff Plescia Presenter’s Title: Planetary Scientist Presenter’s Organization: Applied Physics Laboratory / Johns Hopkins University
Presentation Title
Site Selection for the Lunar Outpost
Key Ideas
The objective of establishing a permanent presence on the Moon in the form of an outpost will result in a set of site selection requirements different from those of the Apollo program or of robotic missions to Mars.
Environmental conditions (e.g., thermal loading and background temperature, solar illumination) are likely to be key criteria for the site selection since they will drive the system designs.
In situ resource potential will be an important criteria in site selection. A decision about how those resources will be used – volatiles for making-up for losses in the life support system versus fuel production or sunlight for solar power – can significantly influence the site selection.
Scientific objectives are unlikely to be a driver in site selection.
Supporting Information
The Vision for Space Exploration calls for the establishment of permanent presence on the Moon, to learn about the Moon, the Earth-Moon system, the solar system, and the universe by exploration of the Moon; to acquire the skills and develop the systems on the Moon that we need to become a multi-planet species; and to harvest and use the material and energy resources of the Moon to create a new space-faring capability. In order to achieve those goals, an appropriate permanent site must be selected for the lunar outpost.
There are a variety of aspects to the outpost site that must be considered in its selection: among these are the physical properties and topography, environmental conditions (thermal, solar, radiation), and resources.
The physical properties and topography of the Moon are understood well enough that we know that a site with appropriate characteristics (stability for construction, safe landing zones, etc.) could be selected now. We understand the frequency of small craters, the locations of rocks, and the geotechnical properties of the regolith. Differences in those properties would influence the site selection only in the context of 2007 LEAG Workshop on Enabling Exploration 3054.pdf
the specific location of structures (tens to hundreds of meters) rather than the regional location of the outpost (hundreds of km).
There are several different types of environmental issues that must be considered. Some of these are global in extent and not location-specific, such as the radiation environment or micrometeorite flux. While the flux at any given moment will vary across the surface, averaged over time, all of the surface experiences the same flux. On the other hand, the thermal and lighting conditions are latitude specific. At the equator, the temperature ranges from +107°C during the day to -153°C at night (a range of 260°) with two weeks of sunlight and two weeks of darkness, and a solar elevation ranging from 0° to 90°. At the poles, the sun is never more than about 1.7° above the horizon, the average temperature is more stable (-50°C ± 10°C), and areas of permanent shadow and areas with extended periods of sunlight (perhaps permanent or near permanent sunlight) exist. These issues will have significant impact on the design of the habitat and power systems for the outpost. At present we have a good understanding of the environment at the equator; we have a poorer understanding of the polar environment. Systems could be designed to operate anywhere with our present understanding; the penalty would be a design that would have to accommodate the uncertainties. A considerably better understanding of the polar environment will be gained through LRO and other international lunar missions to be launch this and next year.
The use of in situ resources may be one of the biggest drivers on site selection. The first issue to be resolved is the extent to which such resources would be used. Would they be used to generate oxygen to compensate for losses in the life support system, or will hydrogen and oxygen be produced to supply fuel for trips to and from the Moon and then beyond? If the former, then the efficiency of the process and the grade of the resource ore may not be important. On the other hand, if the latter, then the efficiency and the grade are critical. The potential for resources is the one key area where we lack sufficient information at present, particularly for the polar areas. The upcoming lunar missions will provide some additional information, but we will still lack non-model- dependent information on the form, distribution and composition of resources in polar regions. It is assumed, based on morphology, that the polar regions would be “anorthositic highlands” and have a composition similar to the Apollo 16 site, but it would be important to confirm this. It is known from Lunar Prospector that enhanced hydrogen occurs in the polar areas, but whether that hydrogen is uniformly distributed or sequestered in permanently shadowed areas and whether it is in the form of H or H2O are unknown and can not be definitively determined from orbit. In situ analysis must be conducted. If resources are to be used for fuel production, then there may be a trade in the site selection wherein the proximity to a high grade ore is traded against the proximity to a site that has better solar power potential such that it is the overall energy budget of operations and production that is the deciding factor.
In order to optimize the design of surface systems and resource utilization, as well as to reduce fiscal, technical and programmatic risk, the selection of a site must be made only after all of the relevant information is in hand. In some cases, robotic missions to explore potential outpost sites to collect in situ information will be required; in other cases, those robotic missions may serve to validate conclusions derived from orbital and Apollo data. 2007 LEAG Workshop on Enabling Exploration 3055.pdf
PLANETARY RAMAN SPECTROSCOPY FOR SURFACE EXPLORATION AND IN SITU RESOURCE UTILIZATION ON THE MOON Alian Wang1, Zongcheng Ling1,2, and Bradley L. Jolliff1, 1Department of Earth & Planetary Sciences and the McDonnell Center for the Space Sciences, Washington University, St. Louis, MO, 63130 ([email protected]), 2Department of Space Science and Applied Physics, Shandong University, Wei- hai, People’s Republic of China.
Study of lunar rocks and soils – igneous miner- Detection of ice and hydrous minerals in polar alogy: We have published a series of papers (Wang et deposits: The neutron spectrometer on the Lunar Pros- al., 1995, Haskin et al, 1997, Korotev et al., 1997) that pector orbiter found increased concentrations of H in demonstrate the capability of planetary Raman spec- lunar polar regions, possibly associated with perma- troscopy for definitive mineral identification and char- nently shaded craters [Feldman et al., 2001]. The acterization of lunar materials (rocks and soils), as well questions posed for the next landed mission to the as to obtain information on mineral proportions and Moon are as follows: (1) In what form is the H? Is it rock textures. During the development of the Mars as solar-wind-implanted H+, water-ice left by cometary Microbeam Raman Spectrometer, we conducted an- impacts, or as H2O/OH structurally bonded to miner- other series of application studies to evaluate the feasi- als? (2) How can we effectively extract the hydrogen bility of extracting compositional information from for ISRU purposes? Raman spectroscopy can address stand-alone Raman measurements, which have been the first question by detecting the characteristic Raman proven to be very successful. Examples include obtain- peaks of H2 (after heating the surface soils), water-ice, ing Mg/(Mg+Fe) ratios from olivine (Kuebler et al., and H2O/OH-bearing minerals. Raman spectroscopy 2006); determining Mg/(Mg+Fe+Ca) and Ca/(Mg+ can address the second question using a process- Fe+Ca) in pyroxene (Wang et al., 2000); classifying control Raman sensor on ISRU platforms (see next the variety of feldspar (Or, Ab, An, and solid solutions section below). Our current view of Raman spectro- thereof) (Freeman et al., 2001); obtaining information scopic applications for ISRU is based on ISRU proc- on Fe, Cr, Ti, Al, and Mg contents in Fe-Ti-Cr-oxides esses discussed extensively in the 1980s -1990s [Lewis (Wang et al., 2004); and distinguishing the variety of and Lewis, 1987; Lewis et al., 1993; Mendell, 1984]. phosphate minerals (Jolliff et al., 2006). Recently, we Further Raman applications will emerge following used the accumulated knowledge through these studies new ISRU designs in the current phase of return-to- to investigate two typical lunar soils, 67513 and the-Moon mission-concept development. 71501. Figure 1 a, b shows the compositional distribu- Process control for in-situ Resources Utiliza- tions of olivine and pyroxene grains in these two lunar tion (ISRU): Robots, and eventually humans will go samples. Results demonstrate that with a few tens to a back to the Moon, this time perhaps to explore the hundred Raman point measurements, which could be polar regions. Part of this effort will be to develop the made by a robotic Raman system on the lunar surface, technologies needed to use lunar resources as a basis a lunar soil sample (with grain size ~50 +/-20 µm) can for further missions to Mars and beyond. A substantial be well characterized in terms of its mineralogy and body of work has accumulated since the Apollo mis- the compositional features of major minerals. sions regarding ISRU concepts on the Moon [Lewis and Lewis, 1987; Lewis et al., 1993; Mendell, 1984]. Planetary Raman spectroscopy can make significant Figure 1. Compositional distribution of olivine (blue) and py- roxene (magenta) grains in lunar soils 67513 & 71501 contributions for ISRU on the Moon. The first-order demand in lunar ISRU is to obtain 40 20 propellants, free metals, and bulk shielding for protec- Apollo 67513 33 Apollo 67513 15 30 28 15 tion against radiation. The most abundant and most
11 readily available material for these uses is unprocessed 20 10
14 7 lunar regolith. Among the procedures proposed to ex- 6 5 10 5 tract hydrogen and oxygen from lunar regolith, extract- 3 22 2 1 1 2 1 0 0 ing H2 as solar-wind-implanted elements (SWIE, in- 20 5 Frequency
Frequency cluding H, He, C, N, Ne, Ar, Kr, and Xe) by thermal 4 Apollo 71501 15 Apollo 71501 13 3 release of gases is one of the most promising methods, 3 10 9 because the available quantities of entrapped solar 2 6 6 wind are sufficiently high and the economics of com- 5 4 1 1 1 1 1 1 3 1 1 plete propellant production on the Moon are appealing 0 0 [Carter, 1984; Lewis and Lewis, 1987, Duke et al., 0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0 Mg/(Mg+Fe+Ca) Mg/(Mg+Fe) 2006]. Some indigenous and relatively volatile ele- ments (S and Cl) will also be extracted during the heat- 2007 LEAG Workshop on Enabling Exploration 3055.pdf
10 ments can be made auto- CH4 Figure 7. Averaged relative normalized differential (ARND) Raman scattering matically and non- 8 NH C H H S 3 2 4 2 cross sections for important gases invasively, with high in H, O, C, S, N system detection sensitivity, for 6 SO 2 gaseous species in an as- H 2 CO2, N2O 4 H O HCl CHCl is status, that is, without 2 C H C H 3 2 4 2 4 Cl N 2 need of any further 2 C H Cl 2 CO 2 3 CO2 Excitation laserline HF N O chemical reaction as part 2 O2 F ARNDcross section Raman NO 2 of a detection scheme. 0 We anticipate that 4500 4000 3500 3000 2500 2000 1500 1000 500 0 various planetary Raman Raman Shift (cm-1) sensors can be installed ing process. The products of this process will include on an ISRU platform, at critical locations to monitor H O, H S, CO, CO , NH , and HCN. All of these have 2 2 2 3 the generation and concentration of certain gaseous characteristic Raman spectra (Figure 2, Raman cross species, through small windows of 5-10 mm diameter sections of some gaseous phases). A procedure for on reaction vessels or on input/output tubing. extracting O that has received much consideration is 2 “ilmenite reduction,” a two-step procedure first by Acknowledgements: We thank NASA for funding using H2 to breakdown FeTiO3 and produce H2O, then by electrolysis of H O to produce O and reusable H through the PIDDP, Cosmochemistry, MIDP, MER 2 2 2 and MFRP programs and projects, and for support in [Gibson and Knudsen, 1984]. A one-step O2 extraction procedure is the electrolysis of molten silicates. It re- the development of the MMRS. quires only sunlight for heat and electricity, and lunar regolith as feedstock. O gas will be released at the References:[1] Wang et al. (1995) JGR, 100, 21189- 2 21199. [2] Haskin at al. (1997) JGR 102, 19293- anode, and iron metal simultaneously formed at the th cathode [Colson and Haskin, 1993]. In order to pro- 19306. [3] Korotev et al. (1998) 29 LPSC. [4] Kue- duce metals (Fe, Ni, Co) from lunar regolith, the first bler et al. (2006) Geochim. Cosmochim. Acta, V70, p6201-6222. . [5] Wang et al. (2001) Am. Minerals. step is to concentrate them by the use of strong mag- th nets, then to purify the metal using “carbonyl process- V86, 790-806.. [6] Freeman et al. (2003) 34 LPSC, ing,” in which CO and CO are the reagent and prod- abstract#1676. [7] Wang et al. (2006) Amer. Mineral.. 2 89, 665-680. [8] Jolliff et al., (2006) Amer. Mineral. uct, but H2S is needed for catalysis [Culter and Krag, 1984]. Ca, Al, and alkali metals can be extracted as 91, 1583-1595. [9] Feldman et al. (2001), JGR, 106, oxides from “destructive distillation” of lunar silicates 23231-23251 [10] Lewis and Lewis, 1987, Space Re- at high temperature [Agosto and King, 1983]. In addi- sources, Breaking the bonds of Earth, Columbia Uni- tion, microbial extraction of H from lunar dust has versity Press, New York, 1987. [11]. Lewis et al. 2 (1993) Resources of near-Earth space, The University also been proposed, with CO2, H2S, CH4, O2, NH3, H2 as the intermediate and final products [White and of Arizona Press, Tucson & London. [12].Mendell, Hirsch, 1984]. (1984) Lunar Bases, Lunar and Planetary Institute, In a chemical reaction process, in-situ, automatic, Houston.. [13] Carter, Lunar regolith fines: A source and non-interruptive detection of critical species is of hydrogen, Lunar and Planetary Institute, Houston; essential for process control. A useful sensor for proc- [14] Duke et al., (2006) Development of the Moon, ess control in lunar resource production will be the Ch. 6., in New Views of the Moon, RiM-G, 60, 597- detection of gaseous species, either as reagents, as 655. [15] Gibson & Knudsen, Lunar oxygen produc- products, or as catalysts. Evidence for the generation tion from ilmenite, p543-550 pp., Lunar and Planetary and the partial pressures of these gases will provide Institute, Houston, 1984. [16] Colson and Haskin, information on the direction and effectiveness of the (1993) in Resources of Near Earth Space, p109-127 chemical reactions. Laser Raman spectroscopy is ideal [17] Culter and Krag, (1984) in Lunar Bases and Space Activities of the 21 Century p559-569. [18] for this type of process control, not only because all of th these gaseous species are strong Raman scatterers Agosto and King, 14 LPSC(1983), 1-2. [19] White and Hirsch, Microbial extraction of hydrogen from (Figure 2, note that O2 and H2 are not detectable by IR spectroscopy), but also because a laser beam is used in lunar dust, Lunar and Planetary Institute, Houston. Raman spectroscopy for excitation and the Raman scattering from the gases (NOT gas molecules as for a mass spectrometer) can be collected through a trans- parent window material. Therefore Raman measure- 2007 LEAG Workshop on Enabling Exploration 3056.pdf
Executive Summary
Date Prepared: 9/3/2007 Presenter’s Name: Brad Jolliff Presenter’s Title: Science Committee Member Presenter’s Organization/Company: NASA Advisory Council / Washington University
Presentation Title
Recommendations from the Workshop on Science Associated with the Lunar Exploration Architecture, Tempe, Arizona, 2/27–3/2, 2007
Summary
The workshop addressed science objectives in astrophysics, Earth science, heliophysics, planetary science, and planetary protection for return-to-the-Moon planning. The workshop resulted in an assessment and prioritization of science objectives within the context of the developing lunar exploration architecture. This presentation will also address recommendations made to NASA by the Advisory Council stemming from the workshop findings.
Summary of Findings
High priorities for astrophysics include (1) meter-wavelength radio observations from the radio-quiet lunar farside to seek evidence of the strongly red-shifted 21-cm H line from the early universe and (2) laser-ranging retroreflectors or transponders to probe gravitational theory. For Earth science, the Moon would provide a unique, stable, and serviceable platform for global, long-term, full-spectrum views of Earth to address climate variability, pollution sources and transport, natural hazards, and changes in the terrestrial cryosphere. Such observations would complement and provide synergetic context for current orbital assets (LEO, GEO, GPS). For heliophysics, the Moon is a unique vantage point from which to better understand the Sun-Earth space environment. The analysis of lunar regolith will provide a history of the Sun. Work is needed to develop predictive capabilities for solar radiation events to safeguard human exploration activities and to better understand the dust-plasma environment at the lunar surface. Key objectives from a planetary science perspective fall into four main themes. (1) Moon as a recorder of the impact history of the inner solar system; (2) Moon as a recorder of early planetary differentiation processes (key to understanding the Moon’s interior is a geophysical network, especially to better determine global seismic structure); (3) the potential record of volatile deposition processes and the possibility of concentrated volatile-element deposits in permanently shaded craters; (4) better delineation of the character and distribution of potential resources and improved understanding of potential hazards to sustained human presence. Some of these objectives can be accomplished at a polar outpost site whereas others require access to multiple locations and sample collection. Lunar exploration will not require special planetary protection controls; however, it will provide the opportunity for an integrated test bed of technologies and methods needed to protect samples and to understand and control mission-associated contamination on long- duration expeditions such as to Mars. Concerns raised by the science subcommittees include the need to access more than one lunar location, surface mobility, transportation infrastructure to deliver payloads and to return materials to Earth, and adequate crew training and time on the surface to devote to specialized science experiments and in-situ resource utilization work. Participants stressed the need for a robust robotic precursor program to support scientific exploration and prepare the way for human missions. A mix of human and robotic exploration, space hardware design, and orbiting and landed laboratory science payloads are needed to maximize science return. 2007 LEAG Workshop on Enabling Exploration 3057.pdf
Executive Summary
Date Prepared: September 6, 2007
Presenter’s Name: John E. Gruener Presenter’s Title: Lunar Outpost Site Selection: A Review Presenter’s Organization/Company: NASA Johnson Space Center
Presentation Title
Lunar Outpost Site Selection: A Review of the Past 20 Years
Key Ideas
This presentation will review efforts by the space exploration community over the past 20 years in regards to site selection for lunar outposts. Operational, science, resource utilization, and international/commercial interests will in lunar outpost site selection be discussed. The presentation will begin with work conducted in the mid-1980's in association with a symposium on Lunar Bases and Space Activities of the 21st Century, and then will proceed through the Space Exploration Initiative (SEI) and First Lunar Outpost (FLO) design study in the early 1990s, the Exploration Systems Architecture Study (ESAS) in 2005, and will end with the current lunar exploration architectures being studied within NASA's Exploration Systems Mission Directorate (ESMD).
Supporting Information
The primary documents that will be referenced during the presentation are: Lunar Bases and Space Activities of the 21st Century, Lunar and Planetary Institute, 1985; Geoscience and a Lunar Base: A Comprehensive Plan for Lunar Exploration, NASA Conference Publication 3070; A Site Selection Strategy for a Lunar Outpost: Science and Operational Parameters, NASA workshop report; and Exploration Systems Architecture Study (ESAS) Final Report, NASA. All of these reports can be found on the internet at http://www.lpi.usra.edu/lunar_resources/documents.shtml.
2007 LEAG Workshop on Enabling Exploration 3058.pdf
ANALOG LUNAR ROBOTIC SITE SURVEY AT HAUGHTON CRATER. T. Fong1, M. Deans2, M. Bualat1, L. Flueckiger3, M. Allan4, H. Utz5, S. Lee4, V. To4, and P. Lee6. 1NASA Ames Research Center. 2Universities Space Research Association. 3Carnegie Mellon West. 4Perot Systems. 5RIACS. 6SETI Institute.
Overview: The “Human-Robot Site Survey” (HRSS) project is a multi-year activity that is investi- gating techniques for lunar site survey[1]. The system that we are developing coordinates humans and multi- ple robots in a variety of team configurations and con- trol modes in order to perform comprehensive surface surveys. Site survey involves producing high-quality, detailed maps, including 3D surface models, mineral- ogy, subsurface stratigraphy, etc. These maps are re- quired for scientific understanding, site planning and operations, and in-situ resource utilization. In July 2007, two K10 rovers (Figs. 1 and 2) oper- Fig. 1. NASA Ames K10 Red rover with the Optech ated at Haughton Crater on Devon Island, Nunavut, ILRIS-3D Lidar operating at Haughton Crater. Canada, autonomously surveying multiple lunar analog sites with terrain and subsurface mapping sensors. Op- erations were designed to simulate a near-term lunar mission, including remote sensing data, operations tools, proximity and remote operations back rooms, and limited-bandwidth data communications. Approach: Our approach is to develop and vali- date system-level concepts for comprehensive site sur- vey in a variety of terrain and over a range of scales. We are developing methods that combine information from orbital imagery with surface activity of rovers equipped with survey instruments. In our work, two key topics are addressed: techniques for robots to per- Fig. 2. NASA Ames K10 Black rover with the JPL form effective survey, and techniques to enable effec- CRUX ground-penetrating radar (GPR). tive human-robot interaction for varied configurations. which provides mm accurate 3D (x,y,z) points over a With our approach, robotic survey tasks can be co- 40ox40o field of view. For full panoramas, the rover ordinated from ground-control or from inside surface turns in place to acquire scans with overlap. Area cov- habitats (or vehicles). A typical scenario involves mul- erage is provided by driving to waypoints, acquiring tiple survey robots mapping a region for resources panoramas, then fusing multiple scans into a topo map. while human operators assess information from the K10 Black (Fig. 2) carries the JPL CRUX ground- rovers and provide physical and cognitive intervention. penetrating radar (GPR). The GPR operates at 800 Coordination and dialogue between ground control, MHz, measuring the subsurface with 10 cm resolution crew (EVA and IVA), and mobile robots uses peer-to- to a depth of 2.5 meters. Wide area coverage is pro- peer human-robot interaction[1], [5]. vided by navigating on North-South and East-West During robotic surveying, software components run transects within an area. off-board (on ground stations) and on-board multiple A priori data: For the July 2007 test, mission survey robots. A traversability map is processed by a planning and context imaging was provided by the coverage planner, which computes survey points. A QuickBird satellite. QuickBird images provided 60 central executive coordinates task assignment and cm/pixel full color over an 8km by 8km area. Regis- monitors execution. Acquired data is routed to a data- tration to hand-collected tie points provided sub-meter base for post-processing and analysis. Rover activity registration to UTM. We generated a multiresolution monitoring and interaction is provided by the Viz user KML overlay for Google Earth, and some local area interface[6], Ensemble ground systems software image tiles were imported into Viz as a context tools[7], and Google Earth. basemap for 3D visualizations. Sensors and mapping: The two K10 robots are Mission planning: GPR coverage plans were gen- identical except for survey instruments. K10 Red erated automatically using a Boustrophedon decompo- (Fig. 1) carries an Optech ILRIS-3D scanning lidar, sition[10] of designated mapping areas. The input to 2007 LEAG Workshop on Enabling Exploration 3058.pdf
Fig. 3. K10 Red scanning a steep and rocky slope dur- Fig. 5. K10 Black survey transects shown with ground- ing survey operations. penetrating radar vertical profiles in Viz.
Fig. 4. Real-time display of K10 Red telemetry and 3D Fig. 6. The Drill Hill survey conducted over four days terrain (from acquired lidar scans) in Viz. and a total of 20 kilometers of autonomous driving.
the planner is a region specified by KML exported relieving crew from having to perform a tedious, from Google Earth. Lidar coverage plans were gener- highly repetitive and long-duration task. ated by hand, also using Google Earth. In both cases, References: [1] Fong, T., Bualat, M., et al. (2006) the plan was generated once and uploaded to each ro- AIAA-2006-7425. [2] Boynton, J., Mungas, G., et al. bot for autonomous execution. (2005). IEEE Aerospace. [3] Stoker, C., Richter, L., et Results: K10 Red (Fig. 3) operated for 9 days, al. (2003). Intl. Conf. on Mars, #3007. [4] Bates, J., driving a total of 14.0 km and collecting 25 lidar pano- Lauderdale, W., and Kernaghan, H. (1979). NASA- ramas (Fig. 4). K10 Black operated for 10 days, driv- RP-1036. [5] Fong, T., Nourbakhsh, I., et al. (2005) ing a total of 32.2 km while performing GPR survey AIAA-2005-6750. [6] Edwards, L., et al., (2005) IEEE (Figs. 5 and 6). During the July 2007 test, more than SMC. [7] Norris J., et al., (2005) IEEE ICRA. [8] 200 hours of robotic survey operations were per- Kim, S., Carnes, S., et al. (2006). IEEE Aerospace [9] formed. These operations were monitored locally at the Arnold, J., (2006). M.S. thesis, Aero. and Astro., MIT. HMP Research Station and remotely at JSC and ARC [10] Choset, H. (2000) Autonomous Robots. via satellite and ground data links. Acknowledgements: This work is supported by Overall, this field test demonstrated that it is clearly the NASA Exploration Technology Development Pro- feasible to use robots to conduct systematic, compre- gram (Human-Robotic Systems and In-Situ Resource hensive and dense surface surveys of lunar sites. Utilization projects) and the NASA Innovative Part- Moreover, we believe that robotic site survey can sig- nership Program (IPP). nificantly reduce the cost and risk of establishing permanent human presence on the Moon, particularly by relieving crew from having to perform a tedious, 2007 LEAG Workshop on Enabling Exploration 3059.pdf
Executive Summary
Date Prepared: 5 September 2007
Presenter’s Name: Brian H. Wilcox Presenter’s Title: Principal Investigator, ATHLETE robot Presenter’s Organization/Company: JPL
Presentation Title
Mobile Lunar Landers and their Implications for Science
Key Ideas
As part of the NASA Lunar Architecture Team, one of the options considered (Option 4) was to make some or all of the lunar landers mobile. The presenter was a member of the Option 4 study team, and will describe the architectural and science implications of making landers mobile.
Supporting Information
A lunar lander can be made mobile using a mobility system as little as 5-8% of landed mass. Mobile landers can move well away from the landing zone, preventing ejecta damage to other assets. They can congregate and dock together, eliminating the need to separate, handle, and transport large payloads, as well as any "civil engineering" tasks associated with site preparation and emplacement. They have integrated power and communications elements, so that such elements don't need to be emplaced on the surface along with their attendant power and communications cables that pose a risk if laid out on the surface. Perhaps most importantly, mobile landers can be used as "Winnebagos" for long-range exploration. Scenarios will be described where one Winnebago and one small pressurized rover can explore thousands of kilometers, and two Winnebagos and two small pressurized rovers can provide global-scale exploration (e.g. visiting the 10 "ESAS sites" selected for their scientific and/or resource interest).
2007 LEAG Workshop on Enabling Exploration 3060.pdf
Executive Summary
Date Prepared: 9/5/07
Presenter’s Name: Dean Eppler Presenter’s Title: Senior Scientist Presenter’s Organization/Company: Constellation Lunar Surface Systems Project Office/SAIC
Presentation Title Interviews with Apollo Lunar Surface Astronauts in Support of Lunar Surface Exploration Systems Design
Key Ideas A series of focused interviews was conducted with a group of the Apollo astronauts who conducted lunar surface operations between 1969 and 1972. The purpose of the interviews was not to record verbatim memories, but rather to engender informed responses on the design of future lunar extravehicular system hardware and operations practices based on the real-world experience of these men. The topics discussed were mission approach and structure; EVA suits, including suit breathing gas, and suit & habitat operating pressure; portable life support system design; management of lunar regolith; EVA suit gloves; the use of automation in suit/PLSS function; information, displays and controls; the use of manned rovers; EVA tools; operational procedures and philosophy; pre-mission training; and general comments. Results of these interviews are wide-ranging, but a number of common themes emerge: 1) simplicity must be the overriding philosophy in the design of all systems; 2) the crew’s time on the surface must be less rigidly scheduled, to allow more complete investigation of each site visited, and to allow for real-time response to unexpected discoveries; 3) training should be hard and as close to reality as possible to ensure crewmembers are familiar with the stresses and strains of a long lunar surface mission, and to achieve the best sustained mental performance; and, 4) emphasis should be given on the integration of the crew, equipment and facilities as a total system, not as a disintegrated set of systems that the crew has to kluge together in real time on the lunar surface.
2007 LEAG Workshop on Enabling Exploration 3061.pdf
Executive Summary
Date Prepared: 9/5/07
Presenter’s Name: Dean B. Eppler Presenter’s Title: Senior Scientist Presenter’s Organization/Company: Constellation Surface Systems Project Office/SAIC
Presentation Title Management of Future Lunar Samples: Back to Basics
Key Ideas The wholesale differences between the Apollo Missions and the Lunar surface science activities implicit in NASA’s proposed lunar architecture argue for a logical re-evaluation of handling of samples on the lunar surface. This evaluation must be based on potential lunar mission sets, on a consideration of what capabilities different mission sets will place on the lunar surface, and the time available to execute sample handling in-situ. Even with the most optimistic return sample mass, the sample mass and petrologic variety implicit in multi-week lunar surface stays argues that some level of sample analysis and description must take place on the surface in order to select the correct sample suite for Earth return. The trade space that can be mapped out is relatively straightforward, but requires careful consideration of 1) what analytical capability may be reasonably brought to the lunar surface; 2) what accommodations must be undertaken to both protect sample quality and minimize introduction of regolith into pressurized spaces; and, 3) what sample handling capability can reasonably be developed, taking into account lunar surface downmass, realistic robotic technology, realistic surface outfitting penalties on crew time, and budgetary realities for hardware development.
2007 LEAG Workshop on Enabling Exploration 3062.pdf
Executive Summary
Date Prepared: September 12, 2007
Presenter’s Name: Bernard Foing Presenter’s Title: Site Selection and Lunar Outpost: SMART-1 Results and ESA Studies Presenter’s Organization/Company: Senior Research Coordinator, ESA ESTEC /SCI-S Postbus 299,2200 AG Noordwijk, The Netherlands
Presentation Title Site Selection and Lunar Outpost: SMART-1 Results and ESA Studies
We shall discuss relevant SMART-1 results and ESA studies relevant to the preparation for site selection and lunar outposts:
Key Ideas
- Science and exploration drivers - SMART-1 results on sites in South and North Polar regions - Thermal, power, survival and geographical constraints - Technical constraints on landing, communication, access and mobility - Resources exploitation, lunar protection and sustained development - Concepts for precursor robotic landers, rovers,and sample return missions - Possible precursor payload and investigations - International coordination and ILEWG roadmap: From a precursor robotic village to human outposts - From lunar local outpost to regional and global exploration
Additional Information
These points will also be discussed at the ILEWG 9th conference on Exploration and Utilisation of the Moon, in Sorrento, Italy, 22–26 October 2007. Links: http://sci.esa.int/smart-1 http://Sci.esa.int/ilewg http://Sci.esa.int/iceum9 2007 LEAG Workshop on Enabling Exploration 3063.pdf
Executive Summary
Date Prepared: September 14, 2007
Presenter’s Name: Dr. Klaus P. Heiss Presenter’s Title: Executive Director Presenter’s Organization/Company: The Jamestown Group of High Frontier
Presentation Title
Toward a 1GWe of Solar Energy on and from the Moon by 2020
Key Ideas
The key to the economic Space Exploration will be commodities with “zero mass” and transported at the “speed of light”.
Amongst these the possibility of gathering and transmitting Solar Energy on and from the Moon will be opening Space beyond purely academic and bureaucratic interests. A private approach is outlined, with specific milestones and financial requirements.
Interest in such applications worldwide is intense. Investments by Governments are not needed, other than providing an affordable Space transportation infrastructure and a manned presence on the Moon. Both are critical bottlenecks holding up US enterprise on the Moon, the Gateway to Cis- and Trans-Lunar Space.
Supporting Information
www.JamestownOnTheMoon.org , www.Moonbase-USA.org, www.Moonbase-Italia.org
2007 LEAG Workshop on Enabling Exploration 3064.pdf
Executive Summary
Date Prepared: 8-23-2007
Presenter’s Name: Gerald Sanders Presenter’s Title: NASA ISRU Incorporation and Development Plans Presenter’s Organization/Company: NASA-Johnson Space Center
Presentation Title
NASA ISRU Incorporation and Development Plans
Key Ideas
The incorporation of In-Situ Resource Utilization (ISRU) capabilities into the buildup and operation of a lunar Outpost can have a significant impact on the affordability and sustainability of lunar exploration and permanent human presence on the Moon. Early development and demonstration of ISRU hardware and capabilities, along with laboratory and field demonstrations with other critical and linked Surface Systems is required to minimize long-term costs and maximize the benefits of ISRU for human exploration of the Moon and beyond.
Supporting Information
The ISRU phasing and capability incorporation strategy developed during LAT Phase I & II is based on the premise that while ISRU is a critical capability and key to successful implementation of the US Vision for Space Exploration, it is also an unproven capability for human lunar exploration and can not be put in the critical path of architecture success until it has been proven. However, at the same time, the lunar architecture needs to be open enough to take advantage of ISRU when proven available. From this, the following ISRU capabilities and phasing was determined to be most beneficial for establishing an Outpost for sustained human presence while incrementally proving and building confidence in ISRU fulfilling critical mission needs: Excavation & site preparation (i.e. radiation shielding for habitats, landing plume berms, landing area clearance, hole or trench for habitat or nuclear reactor, etc.) Pilot-scale oxygen production, storage, & transfer capability (replenish consumables) Pilot-scale water production, storage, & transfer capability – assuming hydrogen source/water is accessible Scavenge descent propellants (oxygen, hydrogen, and fuel cell water) Fuel cell reactant production, storage, & transfer capability
ISRU can be integrated into Outpost habitat and lunar surface system functions and needs without being in the ‘critical path’ since early mission consumables could still be brought from Earth if ISRU is shown to be not technically feasible or not beneficial from a mass or cost perspective. ISRU oxygen and water production would be complementary to life support by providing a functional backup and providing makeup for consumables that were not completely regenerated. ISRU would also provide consumables for open systems, like Extra Vehicular Activity (EVA) suits, and could potentially utilize trash as an in-situ feedstock. If properly coordinated early, ISRU could utilize similar functions, technologies, and modules with life support, fuel cell power, and EVA systems to provide a robust surface architecture, and minimize development and deployment mass and cost. With the ability to produce mission consumables, ISRU could also off-set uncertainties in development and deployment of other lunar architecture transportation and surface elements. For example, the impact of life support system development not meeting the water and air recycling loop closure requirements could be mitigated with ISRU. Once demonstrated in terrestrial field tests and possibly robotic precursors, and demonstrated early in the Outpost, ISRU production and use can be expanded with increased confidence in both ISRU and lunar transportation elements, such that in-situ propellant for lunar ascent might be possible. 2007 LEAG Workshop on Enabling Exploration 3065.pdf
Executive Summary
Date Prepared: 2007-08-29
Presenter’s Name: Jean-Claude Piedbœuf Presenter’s Title: Head Technology Requirement and Planning Presenter’s Organization/Company: Space Technologies/Canadian Space Agency
Presentation Title
CSA Concepts and Plans for Sustained Lunar Exploration and Surface Operations
Key Ideas
This presentation will present some potential Canadian’s roles in space exploration. It will describe some key promising technologies and will present a possible roadmap of Canada’s activities in space exploration.
Supporting Information
Canada has been and is still active in space exploration. Canada has been involved in space robotics for more than 25 years through the Space Shuttle and International Space Station (ISS) manipulators. Canada is now also involved in space exploration through NASA’s Phoenix Scout mission, the Mars Science Laboratory and ESA’s ExoMars mission. Technologies that are critical for space exploration like surface robotic mobility systems, active 3D vision, drilling, guidance for landing, autonomy and in space rendezvous and docking are being actively developed in Canada. In addition, the Canadian Analogue Network is supporting the demonstration of these technologies in an environment similar to Mars and Moon.
Based on the national consultations, CSA has been developing a roadmap for its potential contribution to space exploration missions. This roadmap details the infrastructure contribution and discusses the science opportunities. The Earth and the ISS are used as analogues for Moon and Mars exploration while the Moon itself is a test bed for future human exploration of Mars. Our Moon focus will be robotic precursor missions and critical infrastructure contributions that will pave the way for a Canadian astronaut on the Moon. For Mars exploration, the near to medium term focus is science using robotics. A key principle is that these contributions should start early, be scalable and be transferable from one mission to the other.
2007 LEAG Workshop on Enabling Exploration 3066.pdf
Executive Summary
Date Prepared: 2007/08/15 Presenter’s Name: Kai Matsui Presenter’s Title: SELENE Project Team Presenter’s Organization/Company: JAXA
Presentation Title
SELENE Status and ISRU activity in JAPAN
Key Ideas
The up-to-date status information of SELENE critical phase and data distribution strategy will be explained. And ISRU community of Japan proposed some missions to SELENE-2 landing mission. I’ll explain the proposed ideas and their technology development roadmap.
Supporting Information
SELENE will be launched on Sep 13th by Mitsubishi H-2A rocket. If everything goes as planned, SELENE will be put into orbit around the moon during LEAG meeting.
The ISRU community of Japan actively works the detail technology development planning and proposes their ideas to JAXA. Their Ideas include technology development roadmap, ISRU related tasks in lunar robotic phase, its priorities and specific mission proposals. My presentation will show the summary of them.
2007 LEAG Workshop on Enabling Exploration 3067.pdf
Executive Summary
Date Prepared: Sept 12, 2007
Presenter’s Name: Bob Easter Presenter’s Title: Principal, Mission System Concepts Presenter’s Organization/Company: JPL Systems & SW Division
Presentation Title
ISRU and Potential Mass and Cost Impacts on Sustained Lunar Exploration
Key Ideas
Many uncertainties remain with regard to Lunar ISRU. But the potential exists to provide major savings in Launch mass needed for a given Lunar architecture, or alternatively, major increases in useful payload landed on the Moon for a given number of launches. This presentation will briefly review quantitative results of some analyses carried out in support of the recent LAT II activity, and what they suggest about how current uncertainties might be addressed.
Supporting Information
Much of this information will be available in the final report of the LAT II ISRU FET.
2007 LEAG Workshop on Enabling Exploration 3068.pdf
Executive Summary
Date Prepared: August 29, 2007
Presenter’s Name: D. Larry Clark Presenter’s Title: Chair Presenter’s Organization/Company: AIAA Space Resources Technical Committee
Presentation Title
ISRU Development Roadmap — AIAA Perspective
Key Ideas
The AIAA Space Resource Technical Committee has developed plans and timelines to develop In Situ Resource Utilization for lunar colonization. This roadmap incorporates NASA technology development for early missions up to and including the outpost. The SRTC roadmap also includes further developments that can support eventual commercialization of the products and support lunar colonization. This presentation will give an overview of the AIAA Space Resources Technical Committee lunar resource development roadmap that will enhance the NASA lunar exploration plan and provide a sustainable and affordable approach to exploration.
2007 LEAG Workshop on Enabling Exploration 3069.pdf
Executive Summary
Date Prepared: 22 August 2007
Presenter’s Name: Rodney (Rod) Wilks Presenter’s Title: ATK Exploration Beyond LEO Manager Presenter’s Organization/Company: ATK
Presentation Title
International-Commercial Involvement in Lunar Robotic Mission
Key Ideas
Significant costs of all needed lunar robotic exploration missions discourage full participation from various space agencies. International-Commercial collaboration can enable full participation at significantly reduced cost.
Supporting Information
The full scope of what is required to prepare for manned exploration of the moon and to conduct significant worthwhile science missions is beginning to emerge. To sufficiently help drive down the risk of landing crews on the lunar surface and to conduct statistically sound scientific assessments of the moon, significant resources have to be made available. For most if not all space agencies, the cost of such missions prohibit their total participation. This presentation will discuss alternative ways that could be used to allow full participation by interested space agencies and commercial interest. The presentation will cover proposed collaboration efforts between the various space agencies. This collaborative effort should lead toward a common international architecture that can be used as a basis for cost and data sharing. Further it will cover some ideas about how launch and landing cost can be reduced by using a common design framework that could be the standard for all types of robotic and cargo delivery missions. By using a common design framework and sharing both cost and data between participating agencies or commercial customers, the envisioned scope of lunar robotic and cargo type missions can be conducted at a significantly less cost to each participant.
2007 LEAG Workshop on Enabling Exploration 3070.pdf
Executive Summary
Date Prepared: 9-20-07
Presenter’s Name: Gary Lofgren Presenter’s Title: Lunar Curator Presenter’s Organization/Company: NASA-JSC
Presentation Title
Astronaut Training, What We Did, Why It Worked, and What Can Be Done Better
Key Ideas
The mission specific geologic training of the Apollo astronauts was centered around field exercises with a minimum of classroom study. The number of field trips varied from a single trip for the Apollo 11 crew to approximately 20 trips over a 2 year period for each of the J missions, Apollo’s 15, 16, and 17. The complexity and the degree to which the field exercises mimicked the mission protocols increased dramatically from the early missions to the later J missions. The crews were taught to systematically observe everything from the far distance to the near ground and to develop a vocabulary in common with those to whom they are communicating, i.e., capcom and science back room. Most of the field exercises were focused on specific mission objectives designed to give the astronauts background to fully understand the scientific objectives and the rational to fulfill these objectives. Another equally important, but more mundane field training goal was to make the routine tasks, such as sampling and documentation, as automatic as possible. Every effort was make to visit terrestrial geologic localities that mimicked the geologic problems of the lunar landing site on the moon as well as possible. The emphasis, however, was on finding good problem solving exercises. One of the few classroom activities was to learn basic lunar rock types by direct observation of Apollo lunar samples. Based on the Apollo experience on the moon and the advances in technology, I can think of several technologies that need to be developed to facilitate field operations at a lunar outpost and for scientific exploration. Sample documentation was one of the most cumbersome and time consuming tasks. There are several technologies that could make this task less cumbersome. Some kind of digital imaging techniques for documenting sampling and other activities in addition to improved imaging from a rover would reap high benefit in freeing astronauts to these laborious tasks. Some kind analytical tool to help astronaut discriminate rock types in the field would significantly increase the scientific return on their activities. If large boulder that exhibit complex geologic relationships are encountered, a tool that allows easy sampling of large boulders would be of great benefit, An example is the hand held drill used to extract samples at precise locations similar to what is used for obtaining orientated samples paleomagnetic studies. New sample containers that reduce the container weight are needed. Small sample containers for totally sealed samples similar to the Apollo SESC container, but with better seals are needed. Once samples are collected they need to has a s working area (glover box?) to examine samples and to hi-grade for return to Earth. The use of high quality imaging and a simple analytical tool such as XRF would be efficient and could involve scientists on earth to assist in the hi-grading. 2007 LEAG Workshop on Enabling Exploration 3071.pdf
Executive Summary
Date Prepared: 9/20/07
Presenter’s Name: Bob Gershman
Presenter’s Title: Assistant Program Manager, JPL Exploration Systems Engineering
Presenter’s Organization/Company: JPL
Presentation Title
Lunar Site Selection Process Definition in LAT-2
Key Ideas
The objective was to lay out the process for selecting the location(s) of the lunar outpost(s), including: identifying steps and approximate schedule, identifying criteria and data needed to evaluate candidate sites, and assessing existing plans for data acquisition and processing. A preliminary version of the process was defined and key schedule milestones were identified. High and medium priority site selection criteria were identified and strawman requirements established. Adequate data collection plans were found for all but one requirement, but issues regarding adequate data registration were raised. Also, a need for near term iteration with evolving lunar architecture and lander design was identified.
2007 LEAG Workshop on Enabling Exploration 3072.pdf
Executive Summary
Date Prepared: 9/19/07
Presenter’s Name: William E. Larson Presenter’s Title: ISRU Deputy Project Manager Presenter’s Organization/Company: NASA
Presentation Title
Outpost Site Selection for In-Situ Resource Utilization
Key Ideas
From an ISRU perspective there are several criteria that drive Outpost site selection. What are the products of interest to the Architecture? Are these resources available at the Outpost site selected? What are their concentrations in the Regolith? Are they reasonably accessible and what is the topography? Are the environmental conditions conducive to ISRU production systems?
Additional Information
The presentation will discuss the current ISRU needs of the Lunar Architecture as bounded by NASA’s Lunar Architecture Team studies and how the criteria mentioned above will affect outpost site selection. It will also discuss longer term opportunities for ISRU insertion into the architecture how initial site selection will affect our ability to provide products to the Outpost.
Workshop on Planetary Atmospheres (2007) 3073.pdf
Executive Summary
Date Prepared: September 21, 2007
Presenter’s Name: Robert M. Kelso Presenter’s Title: Manager, Commercial Space Development Presenter’s Organization/Company: Commercial Crew/Cargo Program, NASA-JSC
Presenter’s Name: Greg Schmidt Presenter’s Title: Associate Director, Strategic Planning Presenter’s Organization/Company: Entrepreneurial Space Directorate, NASA-Ames
Presentation Title
Proposal for a Lunar Exploration Science Campaign: A Commercial-leveraged, Science- focused, Frequent Lunar Mission Program
Key Ideas
(1) Establishing an aggressive lunar science campaign to the lunar surface (2) Enabled by commercial leveraging with NASA (3) Leading to a near-term technology demonstration on the surface.
Additional Information
Proposal for a Lunar Exploration Science Campaign: A commercial-leveraged, science- focused, frequent lunar mission program
Greg Schmidt (ARC, [email protected]), Dan Rasky (ARC), Rob Kelso (JSC), Bruce Pittman (ACES)
The advent of the entrepreneurial space industry has brought a great deal of interest in the commercial potential of space from a growing number of economic sectors. In particular, the nascent entrepreneurial launch industry has attracted a great deal of private funding, which NASA’s Commercial Orbital Transportation System (COTS) seeks to leverage to provide needed future logistics access to the International Space Station. The growing industrial interest in these opportunities has led to the creation of numerous industry groups and events, most notably the Space Commerce Roundtable (www.spacecommerceroundtable.com).
Interest in the commercial potential of the moon is high, and a number of companies have invested internal resources (sometimes in the millions of dollars) in exploring potential business models. Examples of companies which have invested such resources, made recent announcements or approached NASA with relevant lunar interests include both traditional and non-traditional aerospace companies such as Cisco, Raytheon, Space Systems Loral, Ecliptic, EDS, Rocketplane-Kistler and SpaceDev1[1]. Several of the ideas that have been discussed, including lunar communications, infrastructure (including surface access), and entertainment, have attracted significant investment. If NASA could use this commercial interest to achieve its lunar science and exploration goals this could be an ideal public/private partnership for increasing science return and lowering net costs to NASA while achieving commercial objectives for industry.
1[1] See 8/23/07 press release: http://www.spacedev.com/press_more_info.php?id=184 Workshop on Planetary Atmospheres (2007) 3073.pdf
The newly released National Research Council study, “The Scientific Context for Exploration of the Moon,” provides the NASA framework for science missions to the moon under which all collaborative efforts with industry should be structured. The “Prioritized Science Concepts” in this document form the fundamental platform from which NASA SMD will negotiate collaborative missions with industry. Furthermore, commercial partnerships should leverage upon current NRC report-inspired studies such as the effort to determine which prioritized science concepts can be addressed by small spacecraft (ranging from, for instance, distributed networks of small seismometer stations to in-situ sample analysis and eventual sample return). The objective of commercial partnerships is not to add science goals to NASA but rather to accomplish these goals more quickly, reliably and at a lower cost than NASA could do alone. From industry’s point of view, the goal to develop viable business plans which will monetize collaborative lunar science efforts with SMD.
Commercialization is a key imperative from an agency perspective. Goal 5 of the NASA Strategic Plan (February 2006) states “Encourage the pursuit of appropriate partnerships with the emerging commercial space sector.” Given the increased commercial interest in the moon as noted above, a great deal of opportunity exists to form such partnerships with SMD to leverage NASA resources while enabling the commercial space sector to grow. The more recently released “Global Exploration Strategy Framework” signed by NASA and 13 other space agencies around the globe (May 2007) states “Space exploration… offers significant entrepreneurial opportunities by creating a demand for new technologies and services. These advances will encourage economic expansion and the creation of new businesses.”
2007 LEAG Workshop on Enabling Exploration 3074.pdf
Executive Summary
Date Prepared: Sept. 21, 2007
Presenter’s Name: Kiel Davis Presenter’s Title: VP, Engineering Presenter’s Organization/Company: Honeybee Robotics Spacecraft Mechanisms Corporation
Presentation Title
Automated Subsurface Sample Acquisition Technologies for Lunar Exploration
Key Ideas
This talk will present a brief overview of automated subsurface sample acquisition technologies for lunar exploration. The discussion will cover several subsurface sample acquisition strategies for in-situ analysis and sample return. A summary of recent and ongoing development work will be presented along with an outline of the key challenges that remain ahead.
Additional Information
Over the past 15 years, Honeybee Robotics has been involved with dozens of efforts to develop various subsurface access, sampling and sample handling technologies for the Moon, Mars and beyond. Perhaps most notably, Honeybee’s Rock Abrasion Tools (RAT) have been operating since 2004 on the surface of Mars while the company’s Icy Soil Acquisition Device (ISAD) is currently en route to the red planet as part of the Phoenix Mars Scout payload. Practical experiences and observations from both projects as well as many others will be shared.
2007 LEAG Workshop on Enabling Exploration 3075.pdf
Executive Summary
Date Prepared: Sept. 24, 2007 Presenter’s Name: David W. Beaty Presenter’s Title: Mars Chief Scientist Presenter’s Organization/Company: NASA-JPL
Presentation Title
Feed Forward to Mars: Implications for Lunar Outpost Site Selection and the Nature of the Activity to be Carried Out There
Key Ideas
Over the past six months, a concentrated multi-disciplinary, multi-directorate (ESMD, SMD, ARMD, and SOMD) effort has been carried out to update our Mars human reference mission. Included within this analysis is evaluation of the probable objectives of the mission, implications for the kinds of sites on Mars that would be most useful, and assessment of the kind of activity that needs to be carried out there. A primary purpose of this study is to provide guidance to the lunar exploration program so that the heritage it establishes will be most useful to Mars.
Additional Information
Evaluation of the objectives of the human exploration of Mars requires a three-part analysis: 1). Objectives related to Mars planetary science that are most appropriately assigned to human explorers, 2) Objectives related to preparation for sustained human presence on Mars, and 3) Objectives related to non-Mars scientific objectives (astrophysics, heliophysics, etc.). For the purpose of this planning exercise, we have assumed a program of three missions. This has led to a series of important discussions about whether the three missions should be sent to the same site or multiple sites, the attributes of the site(s) that would make it attractive for a human landing, and the nature of the activity that would need to carried out at the one or more landing sites to achieve the various envisioned objectives.
2007 LEAG Workshop on Enabling Exploration 3076.pdf Executive Summary
Date Prepared: 9/24/2007 Presenter’s Name: Brad Jolliff Presenter’s Title: Research Associate Professor Presenter’s Organization/Company: Washington University
Presentation Title
Science Criteria for Lunar Outpost Site Selection and an Example
Summary
Science criteria for a lunar outpost site are dominated by lunar and planetary science objectives, but also include consideration of other NASA science endeavors such as astrophysics, heliophysics, earth science, planetary protection, and environmental characterization. Some of the objectives relate purely to science, whereas others relate integrally to exploration. Many can and should be done at any outpost location.
Key lunar and planetary science objectives relate to (1) the impact record over the Moon's history as a record of Solar System events, (2) the internal structure and dynamics of the Moon, (3) composition and evolution of the lunar crust and mantle, (4) nature and history of solar emissions, galactic cosmic rays, and local interstellar medium through investigation of buried layers within the lunar regolith, and (5) investigation of polar volatile deposits.
The first phase of Lunar Architecture development focused on a polar outpost site (South Pole, rim of Shackleton Crater). In this presentation, the Aristarchus region will be presented as an example of a non-polar, potential outpost site. Briefly, the Aristarchus region includes the Aristarchus crater, which appears to have excavated material significantly different from the Apollo and Luna sites. The region includes a large pyroclastic deposit that differs from the volcanic glass deposits of Apollo 15 and 17, and thus provides a key new capability to probe the deep lunar interior. The region includes a variety of volcanic features such as the prominent Valles Schröteri lava channel, Cobra Head vent, and compositionally different and distinctive basalts of western Oceanus Procellarum. Also located nearby are large craters spanning a range of ages that could be dated to help calibrate lunar chronostratigraphy (Aristarchus, Herodotus, Prinz). Key scientific targets lie within range of long- distance rovers from an Aristarchus outpost location. Young basalts to the northwest, near Lichtenberg Crater, could be sampled and dated to constrain lunar volcanic history. To the N-NE of the Aristarchus Plateau lie volcanic domes, including the Rümker Hills, Mairan Domes, and Gruithuisen Domes. These volcanic constructs differ spectrally and compositionally from materials sampled by Apollo and Luna, and may represent an important phase of lunar volcanic activity that is as yet little known. Long- distance traverses to access these geologic sites could serve also to place geophysical stations (seismic, heat flow nodes) as part of a regional network. Heat flow and subsurface structure are key to testing hypotheses about the Procellarum KREEP Terrane.
For Astrophysics, access to the radio-quiet environment of the lunar far side lies just over 1000 km to the west of Aristarchus; however, a retroreflector or transponder network deployed from an Aristarchus outpost could help to achieve new tests of gravitational theory. The site has a view of Earth, so high- priority observations and long-term monitoring of Earth and Sun-Earth interactions could be done from this location. Direct observations of the Sun from this location could be carried out during the daytime. Because Aristarchus is a volcanic terrain, access to paleoregolith as a record of solar activity and radiation history would be available through impact crater ejecta, rille walls, or local excavation and drilling.
For the eventual development of lunar resources, the site is located near vast expanses of ilmenite- bearing basalt. Thus an outpost site in this region could eventually be developed for large-scale regolith mining for oxygen, metals, and solar-wind volatiles. 2007 LEAG Workshop on Enabling Exploration 3077.pdf
Executive Summary
Date Prepared: 24 Sept. 2007
Presenter’s Name: Steve Durst Presenter’s Title: Partner Presenter’s Organization/Company: International Lunar Observatory Association
Presentation Title
Lunar Commercial Communications Enabled by the International Lunar Observatory/ ILO Association
Key Ideas
Accomplishing the primary science/astrophysics mission of the International Lunar Observatory — to expand human knowledge of the Cosmos through observation from our Moon — will necessarily result in a telecommunications capability. This capability will fulfill primary astrophysical observation mission requirements, with additional capacity available for commercial applications.
Supporting Information
The ILOA is developing a market analysis of user demand for this lunar-based communications commodity. Beyond declaration of intended use of this capacity by affiliated Space Age Publishing Company's Lunar Enterprise Daily, a wide range of space — and non-space — enterprises, organizations and individuals may favor the global reach advantages of Cislunar broadcasting, advertising, publicity and transmission. Internet and e-mail .moon / .luna domains provide multiple applications and marketing opportunities. Lunar surface transportation, construction, mining and research operators and vendors are expected to follow and will be able to contract services through this established facility, streamlining surface operation requirements. The pioneering Lunar Commercial Communications Workshops sponsored by Space Age in California's Silicon Valley last January and July marked significant advances in lunar commercial communications understanding, and may help catalyze an entire new industry, expanding the domain of the human commercial telecommunications network by a factor of 1,000.
2007 LEAG Workshop on Enabling Exploration 3078.pdf
Executive Summary
Date Prepared: 24 September 2007
Presenter’s Name: Paul Eckert, Ph.D. Presenter’s Title: International & Commercial Strategist Presenter’s Organization/Company: The Boeing Company, Space Exploration
Presentation Title
Incremental Steps from Earth to Lunar Commerce: How to Do It, and How to Pay for It, One Step at a Time
Key Ideas
Incremental business models start small and involve a gradual buildup, both financially and technically, moving through a series of milestones. At each milestone, existing investors and partners have the opportunity to enter or exit, base on performance and future prospects. Such approaches may help avoid the formidable challenges of all-or- nothing, large-scale ventures that require major investment at the outset.
Supporting Information
Several organizations may be cited that are to at least some extent practicing an incremental approach. In the area of space infrastructure, The Boeing Company has worked with several other companies to create a concept for incremental buildup of propellant depot infrastructure. A multidimensional technical and economic capability, gradually developing a variety of Earth as well as space applications, can be found at the Canadian company MDA. Another Canadian enterprise, Optech, incrementally leverages the company's core expertise in lidar and laser-based surveying, and a strategic partnership with MDA, to offer a variety of space lidar solutions for planetary exploration, orbital operations and science. The Jamestown Group has a step-by-step process for enabling major electrical power generation using lunar materials. Examples of incremental commercial applications that might benefit from space infrastructure include multimedia efforts of the Lunar Explorer venture, the Kronos concept of meteorite prospecting on Earth laying a foundation for an expanding prospecting effort on the Moon, and the International Lunar Observatory effort in pursuit of an incremental approach to raising private capital and creating a lunar installation. Government efforts can facilitate both commercial infrastructure and application development. At NASA, new approaches are being developed to meet this challenge. The initiatives noted above represent only a sampling of industry and government initiatives working to apply or support well-founded, step-by-step approaches to commercial success.
2007 LEAG Workshop on Enabling Exploration 3079.pdf
Executive Summary
Date Prepared: 24 Sep 2007
Presenter’s Name: Dr. Robert D. Richards Presenter’s Title: Director, Space Technology Presenter’s Organization/Company: Optech Incorporated
Presentation Title
The New Race to the Moon — Building Bridges for Lunar Commerce
Key Ideas
The announcement of the Google Lunar X PRIZE has sparked a worldwide interest in commercial lunar development. The challenge presented is for business innovation as much as technical innovation. New partnerships and ways of doing business in space will need to be forged to reach the goal of sustainable lunar commercial enterprise.
Supporting Information
Today there is a rebirth of interest in going back to the Moon among many nations. The worlds' foremost scientists and policy makers are actively engaged in discussions about humanity's return to the Moon. The announcement of the Google Lunar X PRIZE has sparked a worldwide interest in commercial lunar development. The challenge presented is for business innovation as much as technical innovation.
While nations continue to plan and strategize how to navigate the political minefields and conflicting national priorities that justify the value of the Moon to the tax payer, some new players are contemplating new approaches not so constrained. They are the privateers; visionaries with a different set of priorities. Their driving metric for going to the Moon is sustainable business and commerce.
This presentation outlines how carefully planned private Moon missions could set in motion the financial, technological, political, legal and regulatory precedents that will build bridges for sustainable lunar commerce; allowing humanity to rationally and peacefully embrace economic principals while supporting scientific goals in the development of the Moon as the world’s eighth continent.
2007 LEAG Workshop on Enabling Exploration 3080.pdf
Executive Summary
Date Prepared: 24 September 2007
Presenter’s Name: Andrew Steele Presenter’s Title: Arctic Mars Analogue Svalbard Expedition: Testing Robotic and Human Space Flight Instrumentation in the Arctic Presenter’s Organization/Company: Carnegie Institution of Washington
Presentation Title
Arctic Mars Analogue Svalbard Expedition: Testing Robotic and Human Space Flight Instrumentation in the Arctic
The Arctic Mars Analogue Svalbard Expedition (AMASE) has spent 5 years testing a range of instrumentation for robotic and manned missions to Mars. During this time many lessons have been learned on the applicability of analogue testing to space flight applications. This presentation is a summary of the instrumentation tested and lessons learned.
Key Ideas
Analogue testing is an intrinsically necessary part of space flight instrument and protocol development. The lessons learned during these activities have a direct relevance to the ability for instruments and humans to meet the science goals of exploration.
2007 LEAG Workshop on Enabling Exploration 3081.pdf
Executive Summary
Date Prepared: September 24, 2007
Presenter’s Name: Frank Teti Presenter’s Title: Manager, Autonomous Robotics Presenter’s Organization/Company: MDA
Presentation Title
Robotic Technologies for Lunar Exploration
Key Ideas
Robotic technologies will form a key element of future lunar missions, both civilian and commercial. Through the management of a broader portfolio of robotic technologies with specific applications in both space and terrestrial markets these technologies can be contributed to lunar activities at cost effective commercial prices.
Supporting Information
Key examples from MDA’s robotic portfolio will be presented included spin-in and spin- out technologies in 3D vision, mining vehicles, medical robotics and aircraft ice detection.