ALBERT

Description: This paper describes a system developed to explore the feasibility of building such a robotic network.

Description: In-situ science on planetary surfaces such as Mars, Venus, Mercury and Titan pose extreme challenges for mobile robots. Future missions will involve surface, subsurface, and atmospheric mobility which focuses the need for technology development in sensing, autonomy, and mobile robot architectures for solar system exploration.

Description: Recent advances in microtechnology and mobile robotics have made it feasible to create extremely small automated or remote-controlled vehicles which open new application frontiers.

Description: This is a summary of research work accomplished to date for the Jet Propulsion Laboratory by the Colorado School of Mines and the Michigan Technological University for the Martian Subsurface Explorer (SSX). The task involved a thorough review of the state of the art in drilling in the petroleum and mining industries in the following areas: 1) Drilling mechanics and energy requirements. 2) Sidewall friction in boreholes. 3) Rock property characteristics of basalt, permafrost, and ice. 4) Cuttings transport and recompaction of cuttings. and 5) Directional control at odd angle interfaces.

Description: An in-depth look at percussive drilling shows that the transmission efficiency is very important; however, data for percussive drilling in hard rock or permafrost is rarely available or the existing data are very old. Transmission efficiency can be used as a measurement of the transmission of the energy in the piston to the drill steel or bit and from the bit to the rock. Having a plane and centralized impact of the piston on the drill steel can optimize the transmission efficiency from the piston to the drill steel. A transmission efficiency of near 100% between piston and drill steel is possible. The transmission efficiency between bit and rock is dependent upon the interaction within the entire system. The main factors influencing this transmission efficiency are the contact area between cutting structure and surrounding rock (energy loss due to friction heat), damping characteristics of the surrounding rock (energy dampening), and cuttings transport. Some of these parameters are not controllable. To solve the existing void regarding available drilling data, an experiment for gathering energy data in permafrost for percussive drilling was designed. Fifteen artificial permafrost samples were prepared. The samples differed in the grain size distribution to observe a possible influence of the grain size distribution on the drilling performance. The samples were then manually penetrated (with a sledge-hammer) with two different spikes.

Description: A subsurface explorer (SSX) is being developed at the Jet Propulsion Laboratory which is suitable for exploration of the deep underground environments on Mars. The device is a self-contained piledriver which uses a novel 'spinning hammer' technology to convert a small continuous power feed from the surface over a two-wire tether into a large rotational energy of a spinning mass. The rotational energy is converted to translational energy by a novel mechanism described here. The hammer blows propagate as shock waves through a nosepiece, pulverizing the medium ahead of the SSX. A small portion of the pulverized medium is returned to the surface through a hole liner extending behind the SSX. This tube is 'cast in place' from two chemical feedstocks which come down from the surface through passages in the hole liner and which are reacted together to produce new material with which to produce the hole liner. The lined hole does not need to be the full diameter of the SSX: approximately 100 kilograms of liner material can create a tunnel liner with a three millimeter inside diameter and a six millimeter outside diameter with at total length of four kilometers. Thus it is expected that core samples representing an overlapping set of three-millimeter diameter cores extending the entire length of the SSX traverse could be returned to the surface. A pneumatic prototype has been built which penetrated easily to the bottom of an eight meter vertical test facility. An electric prototype is now under construction. It is expected that the SSX will be able to penetrate through sand or mixed regolith, ice, permafrost, or solid rock, such as basalt. For pure or nearly pure ice applications, the device may be augmented with hot water jets to melt the ice and stir any sediment which may build up ahead of the vehicle. It is expected that an SSX approximately one meter long, three to four centimeters in diameter, and with a power budget of approximately 200 Watts will be able to explore up to approximately five kilometers deep at the rate of about ten meters per day.

Description: The spectral reflectance of the Moon is an important property for studies of lunar geology, quantitative physical modeling of the moon, and in-flight calibration of spacecraft sensors. Previous studies have claimed that telescopic absolute reflectance values for the Moon are greater than laboratory reflectance measurements by a factor of two. In order to confirm these results, we performed ground-based observations of the lunar surface using a visible/near-infrared spectroradiometer and compared the measured lunar surface radiance to solar radiance corrected for atmospheric scattering and absorption. These data were compared to previously obtained laboratory reflectance measurements from Apollo soil samples.