The paradigm for space exploration is changing. Large and expensive missions are very rare and the space community is turning to smaller, lighter, and less expensive missions that could still perform great exploration. These missions are also within reach of commercial companies such as the Google Lunar X Prize teams that develop small scale lunar missions. Recent commercial endeavors such as “Planet Labs inc.” and Sky Box Imaging, inc. show that there are new benefits and business models associated with miniaturization of space hardware. The MicroDrill is part of the ongoing effort to develop “Micro Sampling” systems for deployment by these small spacecrafts with limited payload capacities. The ideal applications include prospecting missions to the Moon and Asteroids. This paper describes development and testing of the “MicroDrill” system. The MicroDrill is a rotary-percussive coring drill that captures cores 7 mm in diameter and up to 2 cm long. The drill weighs approximately 1 kg and can capture a core from a 40 MPa strength rock within a few minutes, with less than 10 Watt power and less than 10 Newton of preload.

Heat flow is a fundamental property of a planet, and provides significant constraints on the abundance of radiogenic isotopes, the thermal evolution and differentiation history, and the mechanical properties of the lithosphere. Heat-flow measurements are also essential in achieving at least four of the goals set out by the National Research Council for future lunar exploration. The heat-flow probe therefore directly addresses the goal of the Lunar Geophysical Network, which is to understand the interior structure and composition of the Moon. A key challenge for heat flow measurement is to install thermal sensors to the depths approximately equal to 3 m that are not influenced by the diurnal, annual, and longer-term fluctuations of the surface thermal environment. In addition, once deployed, the heat flow probe should cause little disturbance to the thermal regime of the surrounding regolith. A heat-flow probe system was developed that has two novel features: (1) it utilizes a pneumatic (gas) approach, excavates a hole by lofting the lunar soil out of the hole, and (2) deploys the heat flow probe, which utilizes a coiled up tape as a thermal probe to reach greater than 3-meter depth. The system is a game-changer for small lunar landers as it exhibits extremely low mass, volume, and simple deployment. The pneumatic system takes advantage of the helium gas used for pressurizing liquid propellant of the lander. Normally, helium is vented once the lander is on the surface, but it can be utilized for powering pneumatic systems. Should sufficient helium not be available, a simple gas delivery system may be taken specifically for the heat flow probe. Either way, the pneumatic heat flow probe system would be much lighter than other systems that entirely rely on the electrical power of the lander.

In this paper, the development of heat flow probes for measuring the geothermal gradient and conductivity of lunar regolith are presented. These two measurements are the required information for determining the heat flow of a planetary body. Considering the Moon as an example, heat flow properties are very important information for studying the radiogenic isotopes, the thermal evolution and differentiation history, and the mechanical properties of the interior. In order to obtain the best measurements, the sensors must be extended to a depth of at least 3 m, i.e. beyond the depth of significant thermal cycles. Two approaches to heat flow deployment and measurement are discussed in this paper: a percussive approach and a pneumatic approach. The percussive approach utilizes a high frequency hammer to drive a cone penetrometer into the lunar simulant. Ring-like thermal sensors (heaters and temperature sensors) on the penetrometer rod are deployed into the simulant every 30 cm as the penetrometer penetrates to the required 3 m depth. Once the target depth has been achieved, the deployment rod is removed from the simulant, eliminating any thermal path to the lander. The pneumatic approach relies on pressurized gas to excavate, using a cone-shaped nozzle to penetrate the simulant. The nozzle is attached to a coiled stem with thermal sensors embedded along the length of the stem. As the simulant is being lofted out of the hole by the escaping gas, the stem is progressively reeled out from a spool, thus moving the cone deeper into the hole. Thermal conductivity is measured using a needle probe attached to the end of the cone. Breadboard prototypes of these two heat flow probe systems have been constructed and successfully tested under lunar-like conditions to approximately 70 cm, which was the maximum possible depth allowed by the size of the test bin and the chamber.

Rover-based 2012 Moon and Mars Analog Mission Activities (MMAMA) scientific investigations were recently completed at Mauna Kea, Hawaii. Scientific investigations, scientific input, and science operations constraints were tested in the context of an existing project and protocols for the field activities designed to help NASA achieve the Vision for Space Exploration. Initial science operations were planned based on a model similar to the operations control of the Mars Exploration Rovers (MER). However, evolution of the operations process occurred as the analog mission progressed. We report here on the preliminary sensor data results, an applicable methodology for developing an optimum science input based on productive engineering and science trades and the science operations approach for an investigation into the valley on the upper slopes of Mauna Kea identified as “Apollo Valley.”

The ability to analyze heterogeneous rock samples at fine spatial scales would represent a powerful addition to our planetary in situ analytical toolbox. This is particularly true for Mars, where the signatures of past environments and, potentially, habitability are preserved in chemical and morphological variations across sedimentary layers and among mineral pr.ases in a given rock specimen. On Earth, microbial life often associates with surfaces at the interface of chemical nutrients, and ultimately retains sub-millimeter to millimeter-scale layer confinement in fossilization. On Mars, and possibly other bodies, trace chemical markers (elemental, organic/molecular, isotopic, chiral, etc.) and fine-scale morphological markers (e.g., micro-fossils) may he too subtle, degraded, or ambiguous to be detected, using miniaturized instrumentation, without some concentration or isolation. This is because (i) instrument sensitivity may not be high enough to detect trace markers in bulk averages; and (ii) instrument s~lectiviry may not be sufficient to distinguish such markers from interfering/counteracting signals from the bulk. Moreover from a fundamental chemostratigraphic perspective there would be a great benefit to assessing specific chemical and stable isotopic gradients, over millimeter-to-centimeter scales and beyond, with higher precision than currently possible in situ. We have developed a precision subsampling system (PSS) that addresses this need while remaining relatively flexible to a variety of instruments that may take advantage of the capability on future missions. The PSS is relevant to a number of possible lander/rover missions, especially Mars Sample Return. Our specific PSS prototype is undergoing testing under Mars ambient conditions, on a variety of natural analog rocks and rock drill cores, using a set of complementary flight-compatible measurement techniques. The system is available for testing with other contact instruments that may benefit from precision sampling.

Introduction: The heat-flow probe directly addresses the goal of the Lunar Geophysical Network, which is to understand the interior structure and composition of the Moon [1]. To place 1kg on the surface of the Moon costs ~$50k to$100k. Thus, any scientific instruments must be efficient with respect to limited spacecraft resources such as mass, power, and volume without compromising on quality scientific measurements. A key challenge for a heat-flow probe will be getting to a 3m depth, i.e. below the depth of penetration of the annual thermal wave. Pneumatic Proboscis Heat-Flow Probe Concept: The heat flow probe system uses a pneumatic (gas) approach to lower the temperature and thermal conductivity sensors attached to a bi-convex tape to >3 meters. The system is a revolutionary innovation for small landers as it has extremely low mass, volume, and simple deployment. The pneumatic heat flow architecture implements concave/convex tapes in a different manner to arrive at a bi-convex (lenticular) shape. A set of two tapes are arranged in a biconvex configuration and bound together, forming a rigid rod capable of pressing the needle tip into the soil. RTDs are integral to the tape. The tape is coiled around a deployment drum similar to how a tape measure functions. The full length of the heat flow probe can then be packaged in a small form factor around the drum. Compressed gas is plumbed to the nozzle at the end of the tape which provides the mechanism for penetration into the regolith. A heating needle with an RTD protruding from below the cone measures the temperature and conductivity of undisturbed regolith ahead of the cone. Helium gas, used for pressurizing liquid propellant and typically vented once on the surface, can be scavenged from the lander propulsion system, making the thermal probe system lighter. Honeybee demonstrated that 1 gram of N2 at 5 psia can lift 6000g of JSC-1a in lunar conditions (vacuum, 1/6g) [3]. Thus, only a small amount of gas would be required. The purpose of the heat flow probe experiment was two-fold. First, it was to demonstrate deployment of the probe into the air-dry tephra on the slopes of Mauna Kea volcano on the Big Island of Hawaii to a depth of ~50cm (20 inches) using pneumatic-proboscis system. Second, it was to demonstrate data acquisition system by acquiring thermal data, that includes actual temperature in at least two subsurface locations and to acquire thermal conductivity data of the soil. The system successfully reached a depth of ~50cm (maximum extend of the proboscis tape) and acquired thermal data (thermal gradient and conductivity using a needle probe). We calculated thermal conductivity and found it to be ~0.2 W/m/K.

Honeybee Robotics has benefited from multiple commercialization successes associated with the federal SBIR program(1,2). In this paper, we will present a number of case studies on successful technology development and infusion, including development of 2003 Mars Exploration Rover Rock Abrasion Tool (RAT), 2007 NASA Mars Phoenix Lander Icy Soil Acquisition Deice (ISAD), 2011 Mars Science Laboratory Rover Sample manipulation System (SMS) and excavation systems for NASA Lunar Surface Systems and DoD.The paper addresses the commercial benefits of each of the technologies, and also describes how we identified opportunities in other federal organizations and commercial partners and what steps were required to successfully spin it off into other markets. We also describe a step-by-step approach to technology developed at Honeybee Robotics and describe the path required for infusing technology into space missions or different applications.

Introduction: Knowledge of the Moon's thermal structure is fundamental in understanding its origin and internal compositional variation, both of which are intertwined with the origin of the Earth and the rest of the solar system (NASA Strategic Goal 3C). The flow of heat that originates from the lunar interior can be measured, and serves as a constraint to the thermal structure. That is why heat flow measurements were conducted during the Apollo missions [1] and are considered high priority for the International Lunar Network (ILN) missions planned in the next decade [2]. Heat flow is determined from two sets of measurements made in the subsurface: the thermal gradient in, and the thermal conductivity of, the depth interval of interest. A cylindrical probe is inserted into the subsurface for carrying out these measurements (Fig. 1). A heat flow probe typically contains a series of temperature sensors placed along its length. Temperature measurements obtained at different depths down the probe yield the thermal gradient. The probe also contains an electrical heater wire run along its length. After the thermal gradient has been determined, the wire emits heat into the surrounding regolith formation. The temperature sensors monitor how quickly or slowly the heat dissipates away from the probe at their depths. The information is used to calculate the thermal conductivity of the regolith [3-4]. The shallow subsurface temperature of the Moon is strongly influenced by the diurnal, annual, and prece-sional fluctuations of the insolation [1, 5-6]. Therefore , the best way to measure the internal heat flow is to insert the probe to a depth beyond the reach of the surface fluctuation. In order to avoid the 18.6-year-cycle precessions effect, the probe must reach 5-to 7-m depth [6-7]. Constraints and Options for Heat Flow Probe Deployment: A heat flow probe may be deployed in a number of ways on the Moon. However, for the ILN, very few options would fully meet both the constraints imposed by the small lander and the scientific objective of measuring the internal heat flow. For example, a mole can be an ideal tool for subsurface access for lander missions by meeting the mass and power constraints , but it is unlikely that it would reach the desired depth of 5 to 7 m into lunar regolith solely by internal hammering of the small mass. In addition, the hole dug by the mole would have variable diameters

Introduction: The heat-flow probe directly addresses the goal of the Lunar Geophysical Network, which is to understand the interior structure and composition of the Moon [1]. The International Lunar Network (ILN) is a near-term mission that requires a heat-flow probe. ILN is a set of four small landers, scheduled for launch in the 2016-2018 time frame, that will deploy up to four instruments. The ILN payload is limited to ~25kg and its power will most likely be provided by a ASRGs. To place 1kg on the surface of the Moon costs ~$50k to$100k. Thus, any scientific instruments must be efficient with respect to limited spacecraft resources such as mass, power, and volume without compromising on quality scientific measurements. A key challenge for a heat-flow probe will be getting to a 3m depth at which the endogenic thermal gradient can be measured, i.e. below the depth of penetration of the annual thermal wave, within ILN Payload limitations. The Apollo 17 two heat flow probes reached 2.4m. A heat flow probe must create a minimal disturbance to the thermal environment. Heat-Flow Probe Concepts: We have been developing two highly innovative low mass and low power heat-flow probe systems (robotic, but can be also astronaut deployable). Each system consists of two parts: 1) a method of reaching 3m depth in lunar regolith, and 2) a method of deploying thermal sensors [2]. Percussive System: The first system uses a percussive (hammer-like) approach to drive a small diameter (20mm) cone penetrometer to >3 meter depth (Figure 1). Ring-like thermal sensors on the penetrometer rod (heaters and temperature sensors) are deployed into the regolith every 30 cm as the penetrometer goes down to 3 m. The penetration rate of the percussive penetrometer can be correlated to regolith density; this added measurement will help with thermal conductivity correlation. The system leaves only small sensors in the borehole. The deployment rod is removed once depth is reached, maximizing measurement sensitivity by eliminating thermal path to lander except for the electrical tether. Pneumatic-Proboscis System: The second system uses a pneumatic (gas) approach to lower the temperature and thermal conductivity sesnors attached to a lenticular (bi-convex) tape to > 3 meters (Figure 2).The second system uses a pneumatic (gas) approach to lower the heat flow probe, a lenticular (bi-convex) tape, to > 3 meters (Figure 2). The system is a revolutionary innovation for ILN as it has extremely low mass, volume, and simple deployment. This system is dubbed the “Proboscis” because of its similarity to a butterfly proboscis. Helium gas, used for pressurizing liquid propellant, and is typically vented once on the surface, can be scavenged from the lander propulsion system, making the thermal probe system lighter. Should spacecraft helium not be available, a simple gas delivery system may be added specifically for the heat flow probe. Honeybee demonstrated that 1 gram of N2 at 5 psia can lift 6000g of JSC-1a in lunar conditions (vacuum, 1/6g) [3]. Thus, a only a small amount of gas would be required to penetrate to 3 m.

Urban transportation is mainly seen as a challenging engineering and logistical task. However, the results of technically-installed infrastructure become part of the urban fabric, structured tectonics and, in the best case, architecture for short occupancy. In regard to the early 20th century philosopher Ludwig Wittgenstein, for whom architecture was "like a gesture and unlike every movement of the human body is a gesture, neither is every building architecture", the question remains as to how the infrastructural environment needs to perform beyond its primary function. This paper will illustrate how an architectonical approach on infrastructure can catalyze the social impact of infrastructural enterprises. Achievements of socially-responsive infrastructures will be demonstrated by two intercontinental case studies: the rethinking of the "Loop" in Chicago Illinois USA by graduate student Erin Mumm and the light rail station projects in Germany by her mentor Professor Martin Despang. In a collaborative way the authors Mumm and Despang, with his practice base in Hannover, Germany and his research and teaching platform at the College of Architecture in Lincoln, Nebraska, USA, will point out the potential of specific architectural treatment in achieving an economical and social win/win affect. The study concludes that giving infrastructural concepts multiple meaning beyond the primary purpose of moving people can hopefully result in high public acceptance, which is the most fundamental requirement for a sustainable future of infrastructural investments. The paper presentation will point out the societal and economical challenges and the potential of architecturally-engineered infrastructure.

We have developed a cliff robot that is capable of descending a cliff and autonomously navigating to way-points on the cliff wall. This aggressive mobility system consists of an ensemble of three tethered robots, which cooperate under tight coordinated control and collective state estimation. The distributed task is described as a behavior network, which consists of a network of controllers spread across the robots and which interact through communication links to achieve a collective control objective. Fielded experimental results show that the cliff robot is capable of navigating to designated way-points on a cliff wall using the proposed control scheme.

2025. [4] Glass B. et al. (2006) LPSC XXXVII, Abstract #2300. Lunar and Planetary Science XXXIX (2008) 1355.pdf