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Honeybee Robotics Spacecraft Mechanisms Corporation 398 W Washington Blvd., Suite 200, Pasadena, CA 91103 www.HoneybeeRobotics.com
The Resource Prospecting Mission Drill
Kris Zacny, Honeybee Robotics
Gale Paulsen, Honeybee Robotics
Julie Kleinhenz, NASA Glenn Research Center
Jim Smith, NASA Kennedy Space Center
John Trautwein, NASA Kennedy Space Center
Jackie Quinn, NASA Kennedy Space Center SSERVI, 20-24 July 2015 Moffett Field, CA
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Background: The Resource Prospector (RP)
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Goal: • ISRU demo: Prospecting for volatiles,
extraction of O2 from lunar regolith
Instruments: 1. The Neutron Spectrometer Subsystem (NSS)
1. Localizing elevated H2 concentration 2. The Drill Subsystem
1. Capture samples from up to 1 m 3. The Near InfraRed Volatiles Spectrometer
Subsystem (NIRVSS) 1. Characterize hydrocarbons, mineralogical
context for the site, nature of water ice 4. The Oxygen and Volatile Extraction Node
(OVEN) Subsystem 1. Evolve the volatiles in sample by heating and
transfer to LAVA 2. Demo hydrogen reduction process (H2 reacts
with iron oxide to produce water) 5. The Lunar Advanced Volatiles Analysis (LAVA)
Subsystem 1. quantities and species of volatiles via GC/MS 2. Water Droplet Demonstration (WDD)
Andrews et al., 2014
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The Drill Subsystem: Background
q The Icebreaker drill • Developed for acquisition of Ice/Ice Cemented
Ground at the Mars Poles • 1 m depth, 10 kg • Tested in Antarctica, Arctic, Greenland • Tested in Mars Chamber • TRL 5/6
q Goal: • “Turn” Mars drill into Lunar drill
q Mars vs Moon Drill • Mars:
— Planetary Protection — Perchlorate in Ice (freezing point depression) — Sticky Sample (Relative humidly up to 100%) — Full autonomy (long communication delay)
• Moon — Extreme Temperatures (40K – 400K) — Hard Vacuum (Ice sublimation >106 K) — Teleop/supervised autonomy
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Some Considerations and Trades
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Drilling Approaches
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SONIC ULTRA SONIC PERCUSSIVE ROTARY
Final Selection: ROTARY-PERCUSSIVE
Lander
Rover
12 kg 10 kg 40 kg
40 kg
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Sampling Trades C
ompl
exity
Science Payoff
1. Embedded Sensor Step 1: Drill Step 2: Analyze
4. Bit Sampler Step 1: Drill Step 2: Pull Out Step 3: Transfer Cuttings Step 4: Analyze
5. Core Step 1: Drill Step 2: Break-off core Step 3: Capture Core Step 4: Pull out Step 5: Eject core Step 6: Process core Step 7: Analyze 2. Sniffer
Step 1: Drill Step 2: Acquire Sample Step 3: Analyze
3. Sampling Auger Step 1: Drill Step 2: Transfer Cuttings Step 3: Analyze
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1st bite
Brush Brush
“Bite” Sampling Concept
• Drill to 1 meter in short (~ 10 cm) “bites” • Preserve stratigraphy in “bites” • Lower risk (“graceful failure”) – if drill stuck at 60 cm, 5
bites done • Time for analysis while drill in ‘safe’ place (above the hole) • Time for subsurface to cool down
2nd bite
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Ice Bearing Material
1. Drill “Bites” into ice-bearing material
2. Retract auger with
captured cuttings
3. Inspect cuttings with Infrared Sensor and Camera. If ice
bearing material is detected, proceed to next step. Otherwise
continue taking “Bites”
4. Rotate and retract auger to deliver ice-bearing material still within sampling system
Implementation of “Bite” Sampling
NIR Spectrometer
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LITA drill https://www.youtube.com/watch?v=QE7aYUnAA9o
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Lunar Chamber Demonstration
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Tests at NASA GRC
Background: • Lunar chamber converted to ‘dirty’ chamber tests • Soil:
• NU-LHT-3M with 4-5 water wt%, • Vibratory compacted to ~1.5 g/cc • Temp: -140 C to – 90 C
• Chamber P: ~10^-6 torr • Crucible T: -85 C to – 50 C (+10 C) Goal: 1. Capture sample from 40 – 50 cm 2. Deliver to crucible 3. Seal
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Sample Bin Drill Assembly LN2 Shroud Top Lid
Setting up
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Cameras
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Seek-Drill-Dump-Close
Speed x4
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Seek-Drill-Dump-Close
Speed x4
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Seek-Drill-Dump-Close
Speed x16
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Seek-Drill-Dump-Close
Speed x1 (real time)
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Drill holes and crucible
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Stuck Drill Test
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Results • Water wt% = function(Temperature)
• Can preserve all water if T kept low See Kleinhenz et al. 2015, AIAA SciTech
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Drill Data • Bit T was dropping during drilling because soil T was lower with depth • Approx. 10 min to capture 10 cm “bite”
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Drill Data • Drilling Power ~20 Watt (percussion hardly ever used) • Weight on Bit < 30 N • Left drill in a hole for 45 min – no problem
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Testing from the JSC RP Rover
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Drill tests at JSC
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Acknowledgements
q NASA ASTEP and ASTID
q NASA PIDDP
q NASA SBIR
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Honeybee Robotics Spacecraft Mechanisms Corporation 398 W Washington Blvd., Suite 200, Pasadena, CA 91103 www.HoneybeeRobotics.com
Thank You!