ALBERT

Description: Spectral mismatch between a solar simulator and a desired spectrum can result in nearly 20 percent measurement error in the output of photovoltaic devices. This occurs when a crystalline silicon cell monitors the intensity of an unfiltered large area pulsed solar simulator (LAPSS) simulating the ASTM air mass 1.5 direct spectrum and the test device is amorphous silicon. The LAPSS spectral irradiance is modified with readily available glass UV filters to closely match either the ASTM air mass 1.5 direct or global spectrum. Measurement error is reduced to about 1 percent when using either filter if the reference cell and test device are the same general type.

Description: Literature on solar array angle of incidence corrections was found to be sparse and contained no tabular data for support. This lack along with recent data on 27 GaAs/Ge 4 cm by 4 cm cells initiated the analysis presented in this paper. The literature cites seven possible contributors to angle of incidence effects: cosine, optical front surface, edge, shadowing, UV degradation, particulate soiling, and background color. Only the first three are covered in this paper due to lack of sufficient data. The cosine correction is commonly used but is not sufficient when the incident angle is large. Fresnel reflection calculations require knowledge of the index of refraction of the coverglass front surface. The absolute index of refraction for the coverglass front surface was not known nor was it measured due to lack of funds. However, a value for the index of refraction was obtained by examining how the prediction errors varied with different assumed indices and selecting the best fit to the set of measured values. Corrections using front surface Fresnel reflection along with the cosine correction give very good predictive results when compared to measured data, except there is a definite trend away from predicted values at the larger incident angles. This trend could be related to edge effects and is illustrated by a use of a box plot of the errors and by plotting the deviation of the mean against incidence angle. The trend is for larger deviations at larger incidence angles and there may be a fourth order effect involved in the trend. A chi-squared test was used to determine if the measurement errors were normally distributed. At 10 degrees the chi-squared test failed, probably due to the very small numbers involved or a bias from the measurement procedure. All other angles showed a good fit to the normal distribution with increasing goodness-of-fit as the angles increased which reinforces the very small numbers hypothesis. The contributed data only went to 65 degrees from normal which prevented any firm conclusions about extreme angle effects although a trend in the right direction was seen. Measurement errors were estimated and found to be consistent with the conclusions that were drawn. A controlled experiment using coverglasses and cells from the same lots and extending to larger incidence angles would probably lead to further insight into the subject area.

Description: Modified procedure for testing solar photovoltaic cells and modified software for processing test data provide corrections for effects of cell capacitance. Procedure and software needed because (a) some photovoltaic devices (for example, silicon solar cells with back-surface field region) store minority charge carriers in cell junction and thus exhibit significant capacitance, (b) capacitance affects current-vs.-voltage (I-V) measurements made when transient load connected to cell, and (c) transient load used in unmodified version of test procedure. Corrected I-V curve obtained in test of solar cell according to modified procedure approximates true cell voltage vs. cell current more closely.

Description: Space Mining for resources such as water ice, and regolith, which contain many elements in the form of metals, minerals, volatiles and other compounds, is a necessary step in Space Resource Utilization. One of the primary goals is to extract propellants from the regolith such as oxygen and hydrogen which could then be used for in-space transportation. In addition, the space mining system can be used for various construction tasks that can benefit human and robotic exploration as well as scientific investigations based on the exposed topography. The National Aeronautics & Space Administration (NASA) Lunabotics Mining Competition is a university-level competition designed to engage and retain students in science, technology, engineering and mathematics (STEM). NASA will directly benefit from the competition by encouraging the development of innovative lunar excavation concepts from universities which may result in clever ideas and solutions which could be applied to an actual lunar excavation device or payload. The challenge is for students to design and build a remote controlled or autonomous excavator, called a lunabot, that can collect and deposit a minimum of 10 kilograms of lunar simulant within 15 minutes. The complexities of the challenge include the abrasive characteristics of the lunar simulant, the weight and size limitations of the lunabot, and the ability to control the lunabot from a remote control center or operate autonomously. This paper will present an update of the results and lessons learned during the first and second annual Lunabotics Mining Competitions held in May 2010 and May 2011. It will also preview the 2012 competition with a review of the revised rules. In 2010,22 United States (US) universities competed, and in May 2011 the competition was opened to international participation. In 2011, 36 teams actually competed from 26 USA states and 4 foreign countries (India, Bangladesh, Colombia and Canada). This combined total directly inspired an estimated 653 university students. In 2012 more students and the public will be engaged via internet broadcasting and social networking media. The various designs will be cataloged and categorized to provide information to future Lunabotics mining robot designers and competitors. It is also expected to be of value for actual future space missions, as knowledge is gained from testing many innovative prototypes in simulated lunar regolith.

Description: No abstract available

Description: Overview: Design, build & compete remote controlled robot (Lunabot). Excavate Black Point 1 (BP-1) Lunar Simulant. Deposit minimum of 10 kg of BP-1 within 15 minutes $5000, $2500, $1000 Scholarships for most BP-1 excavated. May 23-28, 2011. Kennedy Space Center, FL. International Teams Allowed for the First Time. What is a Lunabot? a) Robot Controlled Remotely or Autonomously. b) Visual and Auditory Isolation from Operator. c) Excavates Black Point 1 (BP-l) Simulant. d) Weight Limit - 80 kg. e)Dimension Limits -1.5m width x .75m length x 2m height. f) Designed, Built and Tested by University Student Teams.

Description: Current space telerobotic systems are constrained to only operating in bright light and dust-free conditions. This project will study the effects of difficult lighting and dust conditions on telerobotic perception systems to better assess and refine regolith operations on other neighboring celestial bodies. In partnership with Embry-Riddle Aeronautical University and Caterpillar, Inc., optical, LiDAR and RADAR sensing equipment will be used in performing the study. This project will create a known dust environment in the Swamp Works Granular Mechanics & Regolith Operations (GMRO) Laboratory regolith test bin to characterize the behavior of the sensing equipment in various calibrated lighting and dust conditions. It will also identify potential methods for mitigating the impacts of these undesirable conditions on the performance of the sensing equipment. Enhancing the capability of telerobotic perception systems will help improve life on earth for those working in dangerous, dusty mining conditions, as well as help advance the same technologies used for safer self-driving automobiles in various lighting and weather conditions. It will also prove to be a critical skill needed for advancing robotic and human exploration throughout our solar system, for activities such as mining on an asteroid or pioneering the first colony on Mars.

Description: 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.

Description: NASA's Lunabotics Mining Competition is designed to promote the development of interest in space activities and STEM (Science, Technology, Engineering, and Mathematics) fields. The competition uses excavation, a necessary first step towards extracting resources from the regolith and building bases on the moon. The unique physical properties of lunar regolith and the reduced 1/6th gravity, vacuum environment make excavation a difficult technical challenge. Advances in lunar regolith mining have the potential to significantly contribute to our nation's space vision and NASA space exploration operations. The competition is conducted annually by NASA at the Kennedy Space Center Visitor Complex. The teams that can use telerobotic or autonomous operation to excavate a lunar regolith geotechnical simulant, herein after referred to as Black Point-1 (or BP-1) and score the most points (calculated as an average of two separate 10-minute timed competition attempts) will eam points towards the Joe Kosmo Award for Excellence and the scores will reflect ranking in the on-site mining category of the competition. The minimum excavation requirement is 10.0 kg during each competition attempt and the robotic excavator, referred to as the "Lunabot", must meet all specifications. This paper will review the achievements of the Lunabotics Mining Competition in 2010 and 2011, and present the new rules for 2012. By providing a framework for robotic design and fabrication, which culminates in a live competition event, university students have been able to produce sophisticated lunabots which are tele-operated. Multi-disciplinary teams are encouraged and the extreme sense of accomplishment provides a unique source of inspiration to the participating students, which has been shown to translate into increased interest in STEM careers. Our industrial sponsors (Caterpillar, Newmont Mining, Harris, Honeybee Robotics) have all stated that there is a strong need for skills in the workforce related to robotics and automated machines. In 2010, 22 United States (US) universities competed, and in May 2011 the competition was opened to international participation, with 46 Universities attending. There were 12 international teams and 34 US teams. This combined total directly inspired an estimated 544 university students. More students and the public were engaged via internet broadcasting and social networking media. This is expected to be of value for actual future space missions, as knowledge is gained from testing many innovative prototypes in simulated lunar regolith. More information is available at www.nasa.gov/lunabotics/.

Description: The Regolith Advanced Surface Systems Operations Robot (RASSOR) excavator robot is a teleoperated mobility platform with a space regolith excavation capability. This more compact, lightweight design (〈50 kg) has counterrotating bucket drums, which results in a net-zero reaction horizontal force due to the self-cancellation of the symmetrical, equal but opposing, digging forces.