Intelligent Drilling and Coring Technologies for Unmanned Interplanetary Exploration

The robotic technology, especially the intelligent robotics that can autonomously conduct numerous dangerous and uncertain tasks, has been widely applied to planetary explorations. Similar to terrestrial mining, before landing on planets or building planetary constructions, a drilling and coring activity should be first conducted to investigate the in-situ geological information. Given the technical advantages of unmanned robotics, utilizing an autonomous drill tool to acquire the planetary soil sample may be the most reliable and cost-effective solution. However, due to several unique challenges existed in unmanned drilling and coring activities, such as long-distance time delay, uncertain drilling formations, limited sensor resources, etc., it is indeed necessary to conduct researches to improve system’s adaptability to the complicated geological formations. Taking drill tool’s power consumption and soil’s coring morphology into account, this chapter proposed a drilling and coring characteristics online monitoring method to investigate suitable drilling parameters for different formations. Meanwhile, by applying pattern recognition techniques to classify different types of potential soil or rocks, a drillability classification model is built accurately to identify the current drilling formation. By combining suitable drilling parameters with the recognized drillability levels, a closed-loop drilling strategy is established finally, which can be applied to future interplanetary exploration

Development of a robust mating system for use in the autonomous assembly of planetary drill strings

Volume-constrained robotic missions seeking to obtain samples from beneath a planetary subsurface may wish to use a rigid drill string consisting of multiple, individual drill bit sections connected together, as opposed to a single, lengthy drill bit. To ensure that drill strings can be assembled and disassembled reliably, it is essential that a robust connection system be used. The authors propose a geometry that seeks to address the requirements of such a mating interface. The proposed solution is based on the bayonet interface, using L- and T-shaped so-called female grooves and male studs connected and disconnected together through a series of clockwise and counterclockwise rotations and single-point clamping events. This routine allows the transfer of both percussion through the drill string and torque in both directions of rotation, while permitting the accurate disconnection of individual drills bits at the required location. Sustained laboratory and field drilling operations suggest that bayonet-style connections offer a reliable solution to the problem of autonomous assembly and disassembly of drill strings in a planetary exploration setting. This paper discusses the development of such a connection system, based on the bayonet connection, which has been implemented in the overall architecture of the Ultrasonic Planetary Core Drill (UPCD). The design trade-off study, which sought to evaluate the use of the bayonet system in comparison with the more conventional screw thread interface, will be discussed, alongside experimental results from percussion transmission testing and drill string assembly testing

Subsurface Planetary Investigation Techniques and Their Role for Assessing Subsurface Planetary Composition

Subsurface planetary investigation techniques are of high interest and importance for the scientific community. Not only they can enhance our knowledge of the history of planetary formation but also can lead to information about its future. Whether the investigation is being conducted remotely using imagers, radars or physically using penetrometers or drills, a pre-existed knowledge of the mechanical and electrical properties of the subsurface regolith should be acquired for better data interpretation and analysis. Therefore, the main objective of this work is to investigate the mechanical and electrical properties of planetary analogs, understand their role for assessing the subsurface structure and identify their character for subsurface investigation techniques. Through-out this research, we investigated the mechanical and electrical properties of regolith analogs with emphasis on testing the feasibility of using penetrometer to explore the subsurface of planetary bodies and estimate their structure and layering. We found probe\u27s diameter and regolith density are the most dominant factors which affect penetration forces. We correlated the mechanical and electrical properties of regolith analogs to geomorphological shape formation. An increase in gully total length corresponds to an increase in dielectric constant, friction angle and formation bulk density which will enhance previous, current and future modelling, interpretation and analysis of optical imagery and radar data. We performed dielectric permittivity and hardness measurements for volcanic rocks in order to provide a cross relation between the dielectric constant of the investigated material and its hardness property. A linear increase in dielectric constant observed along with an increase in rock hardness. This will enhance characterization of the shallow subsurface when investigated using radar and drill/penetrometer

Study of sample drilling techniques for Mars sample return missions

To demonstrate the feasibility of acquiring various surface samples for a Mars sample return mission the following tasks were performed: (1) design of a Mars rover-mounted drill system capable of acquiring crystalline rock cores; prediction of performance, mass, and power requirements for various size systems, and the generation of engineering drawings; (2) performance of simulated permafrost coring tests using a residual Apollo lunar surface drill, (3) design of a rock breaker system which can be used to produce small samples of rock chips from rocks which are too large to return to Earth, but too small to be cored with the Rover-mounted drill; (4)design of sample containers for the selected regolith cores, rock cores, and small particulate or rock samples; and (5) design of sample handling and transfer techniques which will be required through all phase of sample acquisition, processing, and stowage on-board the Earth return vehicle. A preliminary design of a light-weight Rover-mounted sampling scoop was also developed

Overview of NASA Technology Development for In-Situ Resource Utilization (ISRU)

In-Situ Resource Utilization (ISRU) encompasses a broad range of systems that enable the production and use of extraterrestrial resources in support of future exploration missions. It has the potential to greatly reduce the dependency on resources transported from Earth (e.g., propellants, life support consumables), thereby significantly improving the ability to conduct future missions. Recognizing the critical importance of ISRU for the future, NASA is currently conducting technology development projects in two of its four mission directorates. The Advanced Exploration Systems Division in the Agency's Human Exploration and Operations Mission Directorate has initiated a new project for ISRU Technology focused on component, subsystem, and system maturation in the areas of water volatiles resource acquisition, and water volatiles and atmospheric processing into propellants and other consumable products. The Space Technology Mission Directorate is supporting development of ISRU component technologies in the areas of Mars atmosphere acquisition, including dust management, and oxygen production from Mars atmosphere for propellant and life support consumables. Together, these two coordinated projects are working towards a common goal of demonstrating ISRU technology and systems in preparation for future flight applications

Concept evaluation of Mars drilling and sampling instrument

The search for possible extinct or existing life is the goal of the exobiology investigations to be undertaken during future Mars missions. As it has been learnt from the NASA Viking, Pathfinder and Mars Exploration Rover mission, sampling of surface soil and rocks can gain only limited scientific information. In fact, possible organic signatures tend to be erased by surface processes (weathering, oxidation and exposure to UV radiation from the Sun). The challenge of the missions have mostly been getting there; only roughly one third of all Mars missions have reached their goal, either an orbit around the planet, or landing to the surface. The two Viking landers in the 1970's were the first to touch down the soil of Mars in working order and performing scientific studies there. After that there was a long gap, until 1997 the Pathfinder landed safely on the surface and released a little rover, the Sojourner. In 2004 other rovers came: the Mars Exploration Rover Spirit and a while after that, the sister rover Opportunity. These five successful landings are less than half of all attempts to land on Mars. Russia, Europe and the United States have all had their landers, but Mars is challenging. Even Mars orbit has been tough to reach by many nation's orbiters. It is then understandable that of these five successful landings, performed by National Aeronautics and Space Administration (NASA), there have not yet been very complicated mechanical deep-drilling instruments onboard. The risks to get there are great, and the risk of malfunctioning of a complicated instrument there is also high. Another reason to avoid a deep-driller from the lander payload is simply the mass constrains. A drill is a heavy piece of payload, and the mass allocations for scientific instruments are small. In the launch window of 2009, both European Space Agency (ESA) and NASA have their plans to send a rover to Mars. Both of them will include some means to analyse the subsurface material. ESA's rover, called the ExoMars rover, will carry a deep-driller onboard in its Pasteur payload. At the time of writing this thesis, an exact definition of the Pasteur drill has not yet been defined. The author of this thesis has studied the driller instruments in his past work projects and in his doctoral studies. The main focus of this thesis is to analyse the feasibility of different drill configurations to fit to the requirements of the ExoMars' Pasteur payload drill by using the information gathered from the past projects. In this thesis, the author introduces a new concept of a robotic driller, called the MASA drill. The MASA drill fulfils the needs for the drill instrument onboard the Pasteur payload. The main study in this thesis concentrates on design work of the MASA drill, as well as analysis of its operation and performance capabilities in the difficult task of drilling and sampling.reviewe

蠕動運動を用いた月・惑星の地中探査ロボットの開発

【学位授与の要件】中央大学学位規則第4条第1項【論文審査委員主査】中村　太郎（中央大学理工学部教授）【論文審査委員副査】梅田　和昇（中央大学理工学部教授）、大隅　久（中央大学理工学部教授）、國井　康晴（中央大学理工学部准教授）、久保田　孝（宇宙航空研究開発機構教授）博士（工学）中央大

Lunar Polar Coring Lander

Plans to build a lunar base are presently being studied with a number of considerations. One of the most important considerations is qualifying the presence of water on the Moon. The existence of water on the Moon implies that future lunar settlements may be able to use this resource to produce things such as drinking water and rocket fuel. Due to the very high cost of transporting these materials to the Moon, in situ production could save billions of dollars in operating costs of the lunar base. Scientists have suggested that the polar regions of the Moon may contain some amounts of water ice in the regolith. Six possible mission scenarios are suggested which would allow lunar polar soil samples to be collected for analysis. The options presented are: remote sensing satellite, two unmanned robotic lunar coring missions (one is a sample return and one is a data return only), two combined manned and robotic polar coring missions, and one fully manned core retrieval mission. One of the combined manned and robotic missions has been singled out for detailed analysis. This mission proposes sending at least three unmanned robotic landers to the lunar pole to take core samples as deep as 15 meters. Upon successful completion of the coring operations, a manned mission would be sent to retrieve the samples and perform extensive experiments of the polar region. Man's first step in returning to the Moon is recommended to investigate the issue of lunar polar water. The potential benefits of lunar water more than warrant sending either astronauts, robots or both to the Moon before any permanent facility is constructed