Dale Boucher

Development and Testing Of An Autonomous Regolith Excavation and Delivery System

NORCAT Inc has been developing In Situ Resource Utilization (ISRU) payloads since 1999, commencing with exploration drills and including excavation systems and mining techniques and technologies specific to the handling of regolith and rock. In 2008 and 2010, NORCAT participated in a multi phase analog deployment specific to ISRU systems. One aspect tested during these deployments was a closed cycle ISRU loop, wherein a NORCAT Load Haul Dump (LHD) provided tephra to the Orbitec Carbothermal oxygen plant. The Water produced was electrolysed and the hydrogen so produced was used to fuel a NORCAT fuel cell which powered the LHD. The effort was to begin the task of fully automating the regolith delivery cycle from the LHD’s perspective. This paper will report on the development and testing of an autonomous system for the delivery of regolith to an oxygen production facility. The system development is multi staged. First stage was developed and tested in Hawaii in January 2010. It featured a Neptec TriDAR vision system, a NORCAT/ODG/Neptec ISRU chassis, and a NORCAT Load Haul Dump system. This paper will focus on the results of that development and testing phase and will discuss the way forward for subsequent phases.

Mauna Kea, Hawaii, as an Analog Site for Future Planetary Resource Exploration: Results from the 2010 ILSO-ISRU Field-Testing Campaign

The major advances in knowledge of extraterrestrial bodies come from in situ measurements on robotized measuring devices deployed by international space missions, for example, on the Moon and Mars. It is essential to test these instruments in environments on Earth thatbearacloseresemblancetoplanetaryconditions.Withintheframeworkofthe2010InternationalLunarSurfaceOperationInSituResource Utilization (2010 ILSO-ISRU) Analog Test, a suite of scientific instruments developed for in situ lunar research was field tested and cali- brated on the Mauna Kea volcano in Hawaii on January 27 to February 11, 2010. This site will beused as one ofthe future standard test sites to calibrate instruments forin situ lunarresearch.In 2010, atotalof eight scientificteams tested instrument capabilities at the test site.In this paper, a geological setting for this new field-test site, a description of the instruments that were tested during the 2010 ILSO-ISRU field campaign, and a short discussion of each instrument about the validity and use of the results obtained during the test are provided. These results will serve as reference for future test campaigns. DOI: 10.1061/(ASCE)AS.1943-5525.0000200.

Fuel Cell Integration to a Mobility Platform

As part of their effort under a NORCAT sub contract, EVC was lead on the integration of a fuel cell onto a NORCAT ISRU mobility platform. The integrated system was utilized to demonstrate a closed ISRU Loop during an analog deployment in Hawaii in January 2010. The loop consisted of the fuel cell accepting hydrogen from an electrolysis unit that had received water from an Orbitec Carbothermal Oxygen plant. This plant utilized feedstock material (Tephra) delivered by a Load Haul Dump (LHD) system mounted on a mobility platform. The batteries for the LHD mobility platform were charged utilizing energy supplied by the Fuel Cell.

Development of an Intelligent Measure While Drilling System for Planetary Drills

This paper presents the development and preliminary validation of an intelligent measure while drilling system for planetary drills. The proposed technology is geared toward a rover-based drill capable of acquiring and transferring intact subsurface samples. The research builds on the results of experiments that demonstrated how the measured response of a working drill can be correlated to changes in the drilling substrate. The system employs feature exctraction and pattern recognition methods, trained and tested on data obtained from an instrumented planetary drill penetrating a range of lunar regolith simulants under controlled conditions. The proposed approach could lead to the ability for planetary drilling systems to perform two functions based on data collected from transducers and the drill control system during the drilling process. The first function of the system will be to extract and identify key geotechnical characteristics for mission decision support. The second function of the system will be for data collection, enabling the drill to be used as a scientific instrument.

Prospecting for Space Exploration

Prospecting for terrestrial ore deposits relies on numerous methods ranging from large scale geophysical surveys to smaller scale geochemical sample analyses. Exploration entails physical methods, such as remote sensing and seismic or gravitational surveys to evaluate the surface and subsurface of the Earth to detect or infer the presence of valuable deposits. Geoscientists use 3D modeling to determine the geometry and placement of these deposits. A 3D model is a mathematical representation of a three dimensional region in order to evaluate the concentration, method of extraction and potential economic value of the deposit. In January 2010, the Northern Centre for Advanced Technology, Inc (NORCAT) demonstrated the ability to apply geotechnical criteria to acquired 3D data during a field test at approximately 9000 ft elevation on Mauna Kea in Hawaii. This activity was meant to mirror a lunar ISRU mission where robotic precursors are deployed and must survey the surroundings to allow ground operators to select a suitable location to begin construction of a landing site for suture lunar modules. It is necessary to ensure the excavation activity is only attempted in a location where the task is within the operational capability of the mobility platforms. The 3D model was created from surface data acquired by Neptec’s TriDAR and subsurface data acquired by Ground Penetrating Radar (GPR). The data was processed by Xiphos’ Hybrid Processing Card (HPS) for transmission over a limited bandwidth satellite link. RADARSAT-2 remote sensing satellite imaging was acquired prior to, during and following the field test. The imagery acquired provided useful data for base camp deployment, land use and site remediation. Satellite imagery can provide a comprehensive view of a broad area, and potentially enable detailed topographical, geological, geophysical, and environmental data acquisition, and is dependent upon the instruments onboard the satellite. The integration of such satellite imagery and data in NORCAT’s 3D model would present scientists the opportunity to evaluate numerous data types in one interactive tool. This paper describes the NORCAT 3D model and discusses the potential to integrate remote sensing satellite imagery into the model to enhance overall effectiveness for ISRU prospecting.

A Multiagent Methodology for Lunar Robotic Mission Risk Mitigation

The proposed return to the Moon by 2020 will represent one of the one of the most dramatic and challenging steps in human exploration as the international community prepares to establish a permanent presence, a homestead in the ultimate frontier. Prior to sending humans, however, there will be a number of robotic precursor missions. Even after humans alight on our closest celestial neighbor, robots will continue to play a crucial role, performing tasks that are too dangerous or even too mundane for astronauts. We must accordingly seek to mitigate mission risk whenever and wherever possible. Excavation tasks, for building landing pads, constructing habitats and generally establishing infrastructure, will undoubtedly be delegated to robotic systems. We propose that a multiagent methodology will be required to successfully accomplish these tasks and mitigate the associated risks. However, a multiagent approach in an unstructured environment will pose significant control challenges. We present a control architecture and philosophy for multiagent robotic systems. Such a system has been implemented in computer simulation and in a representative network of small laboratory rovers. The control paradigm is based on a flexible machine learning algorithm, which we call an “artificial neural tissue.” An evolutionary approach, that is, an artificial Darwinian selection process, is used to derive the control strategy in computer simulation. The result of this process can then be directly ported to the physical system to accomplish the desired tasks..

Multirobot Lunar Excavation and ISRU Using Artificial-Neural-Tissue Controllers

Automation of site preparation and resource utilization on the Moon with teams of autonomous robots holds considerable promise for establishing a lunar base. Such multirobot autonomous systems would require limited human support infrastructure, complement necessary manned operations and reduce overall mission risk. We present an Artificial Neural Tissue (ANT) architecture as a control system for autonomous multirobot excavation tasks. An ANT approach requires much less human supervision and pre‐programmed human expertise than previous techniques. Only a single global fitness function and a set of allowable basis behaviors need be specified. An evolutionary (Darwinian) selection process is used to ‘breed’ controllers for the task at hand in simulation and the fittest controllers are transferred onto hardware for further validation and testing. ANT facilitates ‘machine creativity’, with the emergence of novel functionality through a process of self‐organized task decomposition of mission goals. ANT based co...

The Development of ISRU and ISSE Technologies Leveraging Canadian Mining Expertise

F uture space missions to planetary bodies, both manned and robotic, will require the efficient utilization of in‐situ resources to ensure longevity and success. In Situ Resources Utilization (ISRU) and In Situ Support Equipment (ISSE), while requiring the development of new technologies and methods for commodity extraction, will still rely upon some method of mining technology for the harvesting and pre‐beneficiation of the raw materials prior to processing. The Northern Centre for Advanced Technologies Inc., in partnership with Electric Vehicle Controllers Ltd., is presently engaged in the development and adaptation of existing mining technologies and methodologies for use extra‐terrestrially as pre cursor and enabling technologies for ISRU and for use as ISSE in support of longer term missions. More specifically, NORCAT and EVC, in partnership with MD Robotics and under contract to the Canadian Space Agency, are developing a drill and sample handler system for sub surface sampling of planetary bodies, ...

Evolution of a Mini Coring Tool for Sample Acquisition

THE Canadian Space Agency (CSA) as part of its Exploration Surface Mobility (ESM) project have been developing ISRU specific tools capable of utilization at the end of a robotic manipulator arm. The tools, which include a 2 meter 7 DOF arm and a 1.5 m 6 DOF arm, are: a microscope, a mini corer sampler, a Power Socket Wrench Tool, a vibrating Scoop and a robotic hand, are intended to be housed in a Tool Holster on a mobility chassis. The Mini Corer is a two-piece tool designed for use as a manipulator arm deployed sample acquisition and storage system. The Mini Corer system consists of a drill unit, attached as an end effector on a robotic manipulator arm, and a sample handling unit, mounted on a rover chassis. The Drill Unit is deployed and stabilized during operations by a robotic arm, thus the reaction forces, which must be absorbed by the arm, must be minimized. This precludes the use of rotation only coring and requires the use of percussive assist in the drilling. This percussion is imparted using a top hammer concept, already well proven in the mining industry. The Sample Handling Unit is mounted on the rover chassis and provides a method for storage and encapsulation of the drill rods and acquired samples. It is a simple carousel system with 10 storage slots as well as a storage location for a Rock Abrasion Tool, essentially another drill rod with a closed face bit. Sample acquisition and handling takes on a primary role of maintaining sample integrity for loosely consolidated material. This paper will present the development of the Mini Coring Tool as manipulator deployed system.

An Automated End Effector for Use with ISRU Tools

THE Canadian Space Agency (CSA) as part of its Exploration Surface Mobility (ESM) project has been developing ISRU specific tools capable of utilization at the end of a robotic manipulator arm. The tools, which include a 2 meter 7 DOF arm and a 1.5 m 6 DOF arm, are: a microscope, a mini corer sampler, a Power Socket Wrench Tool, a vibrating Scoop and a robotic gripper, are intended to be housed in a Tool Holster on a mobility chassis. Interchanging those tools is accomplished through the use of an Automated End Effector Exchanger (AEEE), affixed to the arm, and a mating Grapple Fixture (GF), upon which the end effector or tool is mounted. The AEEE is an active device and is primarily tasked with the actions required to engage the GF, with tool attached, thereby rigidizing the tool to the arm and also forcing power and data connections for the tool to make. When the tool is removed from service, the AEEE must also disconnect the power and data and “push” the GF out of its socket to ensure a positive decoupling action. A Grapple Fixture (GF) is required to couple to the AEEE. This passive coupling presents the power and data ports from the AEEE to a connection for the payloads and provides a base to transmit reaction forces from the tool through the arm. Load variances and capabilities of the AEEE/GF pair required a clean slate approach to the design of the AEEE/GF set. The use of the system in ISRU also dictates that the system must be robust and tolerant to a wide variety of work environments, most notably the dirty environment encountered in field missions such as DRATS and ISRU Missions on Mauna Kea or Axel Heiberg. The nature of ISRU is such that these tools will be at the dirty end of the activity, so designs must consider these environmental aspects at the outset. This paper will discuss the development of the ESM AEEE and GF as it pertains to ISRU implements