Drilling systems for extraterrestrial subsurface exploration

Designing and Calculating the Nonlinear Elastic Characteristic of Longitudinal–Transverse Transducers of an Ultrasonic Medical Instrument Based on the Method of Successive Loadings

This paper presents a numerical method for studying the stress–strain state and obtaining the nonlinear elastic characteristics of longitudinal–transverse transducers. The authors propose a mathematical model that uses a direct numerical solution of the boundary value problem based on the plain curved rod equations in Matlab. The system’s stress–strain state and nonlinear elastic characteristic are obtained using the method of successive loadings based on the curved rod’s linearized equations. For most ultrasonic instruments, the operating frequency of ultrasonic vibrations is close to 20 kHz. On the other hand, the received own oscillation frequencies are close to the working range. Using the method of successive loadings in the mathematical complex Matlab, a numerical calculation of the stress–strain state of a flat, curved rod at large displacements has been carried out. The proposed model can be considered an initial approximation to the solution of the spatial problem of the longitudinal–torsional transducer.

A Review of Different Aspects of Off-Earth Drilling

Off-Earth drilling may be assumed as the second phase of space exploration to discover the unrevealed subsurface on the planetary bodies. It accelerates future space objectives such as in-situ propellant production, mineral exploitation, and space tourism. Owing to the rampant progress in modern technology, the new drill tools mounted on the sophisticated robots are capable to drill the planetary regolith dispersed on the celestial objects; however, formidable obstacles such as microgravity, vacuum condition, and temperature fluctuation as well as the weight limitation, lack of real-time drilling analysis, and remote robot-operator communication impose pressing restrictions on the quick development of space drilling tools. In this study, research on the past and present aspects of off-Earth drilling has been implemented to illuminate the horizon of this technology in the near-term future. The context encompasses a detailed description of the limitations, applications and mechanisms of the different drilling techniques adopted for planetary bodies. A particular emphasis is put on the hydraulic power systems which have not been satisfactorily deployed in off-Earth drilling yet. The research strives to glance over the pivotal aspects of off-Earth drilling to contribute to the future drilling programs planned by the national and private space agencies.

Controlling soil disturbance of a lunar regolith simulant bed during depressurization in a vacuum chamber

A dusty thermal vacuum chamber (DTVC) containing a regolith simulant bed is essential for testing equipment and techniques related to lunar surface exploration. Space agencies have been reluctant to operate a DTVC because of the challenge of controlling soil disturbance of the lunar regolith simulant bed during pumping down or depressurization, which may contaminate or even damage the chamber and vacuum equipment. There appears to be no previously available solution to this problem, or how to avoid it. We investigated the mechanism of soil disturbance during depressurization and established a criterion for evaluating its occurrence. The proposed criterion was validated by extensive experiments and numerical modelling to simulate air evacuation from soil voids. There is a critical pressure difference (CPD) between the top and bottom of the lunar regolith simulant bed that causes soil disturbance during depressurization. We found a simple equation estimating the CPD and further provided guideline on the optimum depressurization rate to avoid soil disturbance before the target vacuum level is achieved under varying soil conditions.

The lunar surface as a recorder of astrophysical processes

The lunar surface has been exposed to the space environment for billions of years and during this time has accumulated records of a wide range of astrophysical phenomena. These include solar wind particles and the cosmogenic products of solar particle events which preserve a record of the past evolution of the Sun, and cosmogenic nuclides produced by high-energy galactic cosmic rays which potentially record the galactic environment of the Solar System through time. The lunar surface may also have accreted material from the local interstellar medium, including supernova ejecta and material from interstellar clouds encountered by the Solar System in the past. Owing to the Moon's relatively low level of geological activity, absence of an atmosphere, and, for much of its history, lack of a magnetic field, the lunar surface is ideally suited to collect these astronomical records. Moreover, the Moon exhibits geological processes able to bury and thus both preserve and 'time-stamp' these records, although gaining access to them is likely to require a significant scientific infrastructure on the lunar surface. This article is part of a discussion meeting issue 'Astronomy from the Moon: the next decades'.

Ultrasonic drilling for the characterisation of building stones and salt induced decay

Historic stone buildings can experience severe decay through salt induced weathering. Decay can be easily seen with the eye but can also occur below the surface. Characterising the changes in the material's structural properties induced by weathering is essential for the evaluation of durability of the stone and for the decision on the best conservation strategy to maintain built heritage. Minimally invasive, in situ tools are needed to establish the location and state of decay at the site. Here an ultrasonic drilling tool is introduced with a specially manufactured tip to monitor subsurface properties of sandstones. Different types of sandstones with varying compressive strength are tested and an artificially weathered sample is investigated. The tool tip wear and exerted force on the drilled samples are evaluated and compared to conventional drilling. Ultrasonic drilling shows promising results for the use in conservation science to assess stone properties and decay.

A study on plant root apex morphology as a model for soft robots moving in soil

Plants use many strategies to move efficiently in soil, such as growth from the tip, tropic movements, and morphological changes. In this paper, we propose a method to translate morphological features of Zea mays roots into a new design of soft robots that will be able to move in soil. The method relies on image processing and curve fitting techniques to extract the profile of Z. mays primary root. We implemented an analytic translation of the root profile in a 3D model (CAD) to fabricate root-like probes by means of 3D printing technology. Then, we carried out a comparative analysis among the artificial root-like probe and probes with different tip shapes (cylindrical, conical, elliptical, and parabolic) and diameters (11, 9, 7, 5, and 3 mm). The results showed that the energy consumption and the penetration force of the bioinspired probe are better with respect to the other shapes for all the diameters of the developed probes. For 100 mm of penetration depth and 7 mm of probe diameter, the energy consumption of the bioinspired probe is 89% lesser with respect to the cylindrical probe and 26% lesser with respect to the conical probe. The penetration performance of the considered tip shapes was evaluated also by means of numerical simulations, obtaining a good agreement with the experimental results. Additional investigations on plant root morphology, movement strategies, and material properties can allow the development of innovative bioinspired solutions exploitable in challenging environments. This research can bring to breakthrough scenarios in different fields, such as exploration tasks, environmental monitoring, geotechnical studies, and medical applications.

Rb-Sr resonance ionization geochronology of the Duluth Gabbro: A proof of concept for in situ dating on the Moon

RATIONALE

We report new (87) Rb-(87) Sr isochron data for the Duluth Gabbro, obtained with a laser ablation resonance ionization mass spectrometer that is a prototype spaceflight instrument. The gabbro has a Rb abundance and a range of Rb/Sr ratios that are similar to those of KREEP-rich basalts found on the nearside of the Moon. Dating of previously un-sampled young lunar basalts, which generally have a KREEP-rich composition, is critical for understanding the bombardment history of the Moon since 3.5 Ga, which in turn informs the chronology of the solar system. Measurements of lunar analogs like the Duluth Gabbro are a proof of concept for in situ dating of rocks on the Moon to constrain lunar history.

METHODS

Using the laser ablation resonance ionization mass spectrometer we ablated hundreds of locations on a sample, and at each one measured the relative abundances of the isotopes of Rb and Sr. A delay between the resonant photoionization processes separates the elements in time, eliminating the potential interference between (87) Rb and (87) Sr. This enables the determination of (87) Rb-(87) Sr isochron ages without sophisticated sample preparation that would be impractical in a spaceflight context.

RESULTS

We successfully dated the Duluth Gabbro to 800 ± 300 Ma using traditional isochron methods like those used in our earlier analysis of the Martian meteorite Zagami. However, we were able to improve this to 1100 ± 200 Ma, an accuracy of <1σ, using a novel normalization approach. Both these results agree with the age determined by Faure et al. in 1969, but our novel normalization improves our precision.

CONCLUSIONS

Demonstrating that this technique can be used for measurements at this level of difficulty makes ~32% of the lunar nearside amenable to in situ dating, which can complement or supplement a sample return program. Given these results and the scientific value of dating young lunar basalts, we have recently proposed a spaceflight mission called the Moon Age and Regolith Explorer (MARE).

Trajectories of martian habitability

Beginning from two plausible starting points-an uninhabited or inhabited Mars-this paper discusses the possible trajectories of martian habitability over time. On an uninhabited Mars, the trajectories follow paths determined by the abundance of uninhabitable environments and uninhabited habitats. On an inhabited Mars, the addition of a third environment type, inhabited habitats, results in other trajectories, including ones where the planet remains inhabited today or others where planetary-scale life extinction occurs. By identifying different trajectories of habitability, corresponding hypotheses can be described that allow for the various trajectories to be disentangled and ultimately a determination of which trajectory Mars has taken and the changing relative abundance of its constituent environments.

Reaching 1 m deep on Mars: the Icebreaker drill

The future exploration of Mars will require access to the subsurface, along with acquisition of samples for scientific analysis and ground-truthing of water ice and mineral reserves for in situ resource utilization. The Icebreaker drill is an integral part of the Icebreaker mission concept to search for life in ice-rich regions on Mars. Since the mission targets Mars Special Regions as defined by the Committee on Space Research (COSPAR), the drill has to meet the appropriate cleanliness standards as requested by NASA's Planetary Protection Office. In addition, the Icebreaker mission carries life-detection instruments; and in turn, the drill and sample delivery system have to meet stringent contamination requirements to prevent false positives. This paper reports on the development and testing of the Icebreaker drill, a 1 m class rotary-percussive drill and triple redundant sample delivery system. The drill acquires subsurface samples in short, approximately 10 cm bites, which makes the sampling system robust and prevents thawing and phase changes in the target materials. Autonomous drilling, sample acquisition, and sample transfer have been successfully demonstrated in Mars analog environments in the Arctic and the Antarctic Dry Valleys, as well as in a Mars environmental chamber. In all environments, the drill has been shown to perform at the "1-1-100-100" level; that is, it drilled to 1 m depth in approximately 1 hour with less than 100 N weight on bit and approximately 100 W of power. The drilled substrate varied and included pure ice, ice-rich regolith with and without rocks and with and without 2% perchlorate, and whole rocks. The drill is currently at a Technology Readiness Level (TRL) of 5. The next-generation Icebreaker drill weighs 10 kg, which is representative of the flightlike model at TRL 5/6.

The Icebreaker Life Mission to Mars: a search for biomolecular evidence for life

The search for evidence of life on Mars is the primary motivation for the exploration of that planet. The results from previous missions, and the Phoenix mission in particular, indicate that the ice-cemented ground in the north polar plains is likely to be the most recently habitable place that is currently known on Mars. The near-surface ice likely provided adequate water activity during periods of high obliquity, ≈ 5 Myr ago. Carbon dioxide and nitrogen are present in the atmosphere, and nitrates may be present in the soil. Perchlorate in the soil together with iron in basaltic rock provides a possible energy source for life. Furthermore, the presence of organics must once again be considered, as the results of the Viking GCMS are now suspect given the discovery of the thermally reactive perchlorate. Ground ice may provide a way to preserve organic molecules for extended periods of time, especially organic biomarkers. The Mars Icebreaker Life mission focuses on the following science goals: (1) Search for specific biomolecules that would be conclusive evidence of life. (2) Perform a general search for organic molecules in the ground ice. (3) Determine the processes of ground ice formation and the role of liquid water. (4) Understand the mechanical properties of the martian polar ice-cemented soil. (5) Assess the recent habitability of the environment with respect to required elements to support life, energy sources, and possible toxic elements. (6) Compare the elemental composition of the northern plains with midlatitude sites. The Icebreaker Life payload has been designed around the Phoenix spacecraft and is targeted to a site near the Phoenix landing site. However, the Icebreaker payload could be supported on other Mars landing systems. Preliminary studies of the SpaceX Dragon lander show that it could support the Icebreaker payload for a landing either at the Phoenix site or at midlatitudes. Duplicate samples could be cached as a target for possible return by a Mars Sample Return mission. If the samples were shown to contain organic biomarkers, interest in returning them to Earth would be high.

A brief overview of space applications for ultrasonics

Sonics and space are two topics which are not commonly considered together. However, sonic and ultrasonic models, devices and systems have space applications in both science and engineering, as well as showing promise in fields such as cleaning, healthcare and construction. This short paper describes some of these activities and appears as results start to come in from the Curiosity rover, which landed on Mars on the 6th of August, 2012, with over 20 piezoelectric and mechanically-resonant components on board.

Architectures for ultrasonic planetary sample retrieval tools

Traditional rotary corers and sample retrieval mechanisms for planetary drilling suffer from a variety of technical difficulties. A heavy and rigid drillstring must be assembled on-site and deployed with considerable applied preload and torque, and these mechanical loadings are difficult to react in a low gravity environment. Furthermore the entire drillstring must often be removed to retrieve samples, unless an augering approach is taken, in which case stratigraphic sequencing is lost. Ultrasonic tools which operate by converting an ultrasonic frequency to a low impacting frequency at the tool end can resolve the mechanical problems because they require very low applied preload and no torque to operate. In developing such a tool, however, several fundamental design decisions must be taken regarding the architecture of the transducer, horn and stack. These include the choice of solid or hollow transducers and the employment of single or multiple free-masses at the ultrasonic to low frequency conversion location. This paper addresses the layout of such a system by contrasting the pros and cons of these architectural choices and concludes that a solid system with a single free-mass provides the best performance in the parameter range here discussed.

Astrobiological benefits of human space exploration

An ambitious program of human space exploration, such as that envisaged in the Global Exploration Strategy and considered in the Augustine Commission report, will help advance the core aims of astrobiology in multiple ways. In particular, a human exploration program will confer significant benefits in the following areas: (i) the exploitation of the lunar geological record to elucidate conditions on early Earth; (ii) the detailed study of near-Earth objects for clues relating to the formation of the Solar System; (iii) the search for evidence of past or present life on Mars; (iv) the provision of a heavy-lift launch capacity that will facilitate exploration of the outer Solar System; and (v) the construction and maintenance of sophisticated space-based astronomical tools for the study of extrasolar planetary systems. In all these areas a human presence in space, and especially on planetary surfaces, will yield a net scientific benefit over what can plausibly be achieved by autonomous robotic systems. A number of policy implications follow from these conclusions, which are also briefly considered.

Ultrasonic rock sampling using longitudinal-torsional vibrations

In the last years several European and US space projects have been focused on the development of surface rovers for planetary missions, such as ExoMars and Mars Exploration Rovers. The main function of these vehicles consists of moving across planet surfaces, and drilling and retrieving samples for in situ analysis. Recent research has shown that drilling of rock materials can be achieved using axially oscillating tuned devices which, compared with conventional rotary drills, operate at lower power and highly reduced preload requirements. As a result, at present, ultrasonics is considered a very promising technology for exobiological prospecting. In this work, two novel ultrasonic rock samplers, both operating in a longitudinal-torsional composite mode, are proposed along with the conceptual design of a full coring apparatus, for preload delivery and core removal. To assess the penetration capability of the excited composite vibrations, preliminary drilling trials were conducted. Since sand constitutes a significant portion of the Martian surface, sandstone was used in the trials.

Challenges for coring deep permafrost on Earth and Mars

A scientific drilling expedition to the High Lake region of Nunavut, Canada, was recently completed with the goals of collecting samples and delineating gradients in salinity, gas composition, pH, pe, and microbial abundance in a 400 m thick permafrost zone and accessing the underlying pristine subpermafrost brine. With a triple-barrel wireline tool and the use of stringent quality assurance and quality control (QA/QC) protocols, 200 m of frozen, Archean, mafic volcanic rock was collected from the lower boundary that separates the permafrost layer and subpermafrost saline water. Hot water was used to remove cuttings and prevent the drill rods from freezing in place. No cryopegs were detected during penetration through the permafrost. Coring stopped at the 535 m depth, and the drill water was bailed from the hole while saline water replaced it. Within 24 hours, the borehole iced closed at 125 m depth due to vapor condensation from atmospheric moisture and, initially, warm water leaking through the casing, which blocked further access. Preliminary data suggest that the recovered cores contain viable anaerobic microorganisms that are not contaminants even though isotopic analyses of the saline borehole water suggests that it is a residue of the drilling brine used to remove the ice from the upper, older portion of the borehole. Any proposed coring mission to Mars that seeks to access subpermafrost brine will not only require borehole stability but also a means by which to generate substantial heating along the borehole string to prevent closure of the borehole from condensation of water vapor generated by drilling.