A Review of Lunar Regolith Excavation Robotic Device Prototypes

The excavation of lunar regolith is desirable for use as a feedstock for oxygen production processes as well as civil engineering purposes and for the fabrication of parts and structures. This is known as In-Situ Resource Utilization (ISRU). More recently, there has been mounting evidence that water ice exists at the poles of the Moon, buried in the regolith where thermally stable conditions exist. This means that regolith excavation will be required to mine the water ice which is believed to be. mixed in with the regolith, or bonded to it. The mined water ice can then be electrolyzed to produce hydrogen and oxygen propellants which could form the basis of a cis-lunar transportation system using in-situ derived propellants. In 2007, the National Aeronautics & Space Administration (NASA) sponsored a Lunar Regolith Excavation Competition as part of its Centennial Challenges program, The competition was not won and it was held again in 2008 and 2009, when it was won by a university team. A $500,000 prize was awarded to the winning team by NASA. In 2010, NASA continued the competition as a spinoff of the Centennial Challenges, which is restricted to university participation only. This competition is known as the "Lunabotics Mining Competition" and is hosted by NASA at Kennedy Space Center. Twenty three American university teams competed in the 2010 Lunabotics Mining Competition. The competition was held again in May 2011 with over 60 teams registered, including international participation. The competition will be held again in May 2012 at Kennedy Space Center in Florida. . This paper contains a thorough review of the various regolith eX,cavation robotic device prototypes that competed in these NASA competitions, and will. classify the machines and their methods of excavation to document the variety of ideas that were spawned and built to compete at these events. It is hoped that documentation of these robots will serve to help future robotic excavation designers and provide a historical reference for future lunar mining machine endeavors

A Review of Extra-Terrestrial Mining Robot Concepts

Outer space contains a vast amount of resources that offer virtually unlimited wealth to the humans that can access and use them for commercial purposes. One of the key technologies for harvesting these resources is robotic mining of regolith, minerals, ices and metals. The harsh environment and vast distances create challenges that are handled best by robotic machines working in collaboration with human explorers. Humans will benefit from the resources that will be mined by robots. They will visit outposts and mining camps as required for exploration, commerce and scientific research, but a continuous presence is most likely to be provided by robotic mining machines that are remotely controlled by humans. There have been a variety of extra-terrestrial robotic mining concepts proposed over the last 100 years and this paper will attempt to summarize and review concepts in the public domain (government, industry and academia) to serve as an informational resource for future mining robot developers and operators. The challenges associated with these concepts will be discussed and feasibility will be assessed. Future needs associated with commercial efforts will also be investigated

Glossary

Modular necks were introduced in total hip arthroplasty (THA) to improve restoration of hip-geometry and reduce dislocation-rates. This presumed advantage was evaluated retrospectively for patients with arthritis in otherwise anatomically normal hips. Restoration of hip-geometry was assessed on preoperative and postoperative calibrated radiographs in 95 consecutive primary THAs with a modular neck design and compared with 95 match controlled THAs with a similar monoblock stem. No significant differences were seen in restoration of body moment arm, leg length and cupangle. Offset restoration revealed a borderline significant difference (P = 0.48) with higher values for the monoblock stem. In both groups 4 dislocations within one year were encountered. In this study modular necks did not reveal a clear benefit in restoring hip geometry and dislocation rate after straightforward THA

Evolution of Extra-Terrestrial Mining Robot Concepts

No abstract availabl

A cryogenic liquid-mirror telescope on the moon to study the early universe

We have studied the feasibility and scientific potential of zenith observing liquid mirror telescopes having 20 to 100 m diameters located on the moon. They would carry out deep infrared surveys to study the distant universe and follow up discoveries made with the 6 m James Webb Space Telescope (JWST), with more detailed images and spectroscopic studies. They could detect objects 100 times fainter than JWST, observing the first, high-red shift stars in the early universe and their assembly into galaxies. We explored the scientific opportunities, key technologies and optimum location of such telescopes. We have demonstrated critical technologies. For example, the primary mirror would necessitate a high-reflectivity liquid that does not evaporate in the lunar vacuum and remains liquid at less than 100K: We have made a crucial demonstration by successfully coating an ionic liquid that has negligible vapor pressure. We also successfully experimented with a liquid mirror spinning on a superconducting bearing, as will be needed for the cryogenic, vacuum environment of the telescope. We have investigated issues related to lunar locations, concluding that locations within a few km of a pole are ideal for deep sky cover and long integration times. We have located ridges and crater rims within 0.5 degrees of the North Pole that are illuminated for at least some sun angles during lunar winter, providing power and temperature control. We also have identified potential problems, like lunar dust. Issues raised by our preliminary study demand additional in-depth analyses. These issues must be fully examined as part of a scientific debate we hope to start with the present article.Comment: 35 pages, 11 figures. To appear in Astrophysical Journal June 20 200

Evaluation of subsidence, chondrocyte survival and graft incorporation following autologous osteochondral transplantation

Contains fulltext : 95878.pdf (publisher's version ) (Open Access)PURPOSE: The aim of this study was to evaluate subsidence tendency, surface congruency, chondrocyte survival and plug incorporation after osteochondral transplantation in an animal model. The potential benefit of precise seating of the transplanted osteochondral plug on the recipient subchondral host bone ('bottoming') on these parameters was assessed in particular. METHODS: In 18 goats, two osteochondral autografts were harvested from the trochlea of the ipsilateral knee joint and inserted press-fit in a standardized articular cartilage defect in the medial femoral condyle. In half of the goats, the transplanted plugs were matched exactly to the depth of the recipient hole (bottomed plugs; n = 9), whereas in the other half of the goats, a gap of 2 mm was left between the plugs and the recipient bottom (unbottomed plugs; n = 9). After 6 weeks, all transplants were evaluated on gross morphology, subsidence, histology, and chondrocyte vitality. RESULTS: The macroscopic morphology scored significantly higher for surface congruency in bottomed plugs as compared to unbottomed reconstructions (P = 0.04). However, no differences in histological subsidence scoring between bottomed and unbottomed plugs were found. The transplanted articular cartilage of both bottomed and unbottomed plugs was vital. Only at the edges some matrix destaining, chondrocyte death and cluster formation was observed. At the subchondral bone level, active remodeling occurred, whereas integration at the cartilaginous surface of the osteochondral plugs failed to occur. Subchondral cysts were found in both groups. CONCLUSIONS: In this animal model, subsidence tendency was significantly lower after 'bottomed' versus 'unbottomed' osteochondral transplants on gross appearance, whereas for histological scoring no significant differences were encountered. Since the clinical outcome may be negatively influenced by subsidence, the use of 'bottomed' grafts is recommended for osteochondral transplantation in patients

Clinical application of scaffolds for cartilage tissue engineering

The purpose of this paper is to review the basic science and clinical literature on scaffolds clinically available for the treatment of articular cartilage injuries. The use of tissue-engineered grafts based on scaffolds seems to be as effective as conventional ACI clinically. However, there is limited evidence that scaffold techniques result in homogeneous distribution of cells. Similarly, few studies exist on the maintenance of the chondrocyte phenotype in scaffolds. Both of which would be potential advantages over the first generation ACI. The mean clinical score in all of the clinical literature on scaffold techniques significantly improved compared with preoperative values. More than 80% of patients had an excellent or good outcome. None of the short- or mid-term clinical and histological results of these tissue-engineering techniques with scaffolds were reported to be better than conventional ACI. However, some studies suggest that these methods may reduce surgical time, morbidity, and risks of periosteal hypertrophy and post-operative adhesions. Based on the available literature, we were not able to rank the scaffolds available for clinical use. Firm recommendations on which cartilage repair procedure is to be preferred is currently not known on the basis of these studies. Randomized clinical trials and longer follow-up periods are needed for more widespread information regarding the clinical effectiveness of scaffold-based, tissue-engineered cartilage repair

MR imaging of osteochondral grafts and autologous chondrocyte implantation

Surgical articular cartilage repair therapies for cartilage defects such as osteochondral autograft transfer, autologous chondrocyte implantation (ACI) or matrix associated autologous chondrocyte transplantation (MACT) are becoming more common. MRI has become the method of choice for non-invasive follow-up of patients after cartilage repair surgery. It should be performed with cartilage sensitive sequences, including fat-suppressed proton density-weighted T2 fast spin-echo (PD/T2-FSE) and three-dimensional gradient-echo (3D GRE) sequences, which provide good signal-to-noise and contrast-to-noise ratios. A thorough magnetic resonance (MR)-based assessment of cartilage repair tissue includes evaluations of defect filling, the surface and structure of repair tissue, the signal intensity of repair tissue and the subchondral bone status. Furthermore, in osteochondral autografts surface congruity, osseous incorporation and the donor site should be assessed. High spatial resolution is mandatory and can be achieved either by using a surface coil with a 1.5-T scanner or with a knee coil at 3 T; it is particularly important for assessing graft morphology and integration. Moreover, MR imaging facilitates assessment of complications including periosteal hypertrophy, delamination, adhesions, surface incongruence and reactive changes such as effusions and synovitis. Ongoing developments include isotropic 3D sequences, for improved morphological analysis, and in vivo biochemical imaging such as dGEMRIC, T2 mapping and diffusion-weighted imaging, which make functional analysis of cartilage possible