Lunar Surface Operations Lunar Surface Operations and Adaptive Structures and Adaptive Structures

TechnologyTechnology

Dr. David C. Hyland

Director of Space Science and Space Engineering Research

Texas A&M University

Royce E. Wisenbaker Chair of Engineering

Professor of Aerospace Engineering, College of Engineering

Professor of Physics, College of Science

55thth International Congress of Mechatronics International Congress of Mechatronics EngineeringEngineering

Automation and Technology 3 Automation and Technology 3 March 7-10, 2007March 7-10, 2007

NASA’s Exploration NASA’s Exploration ProgramProgram

Before the end of the next decade, NASA astronauts will again explore the surface of the moon. This time, we're going to stay, building outposts and paving the way for eventual journeys to Mars and beyond.

The centerpiece of this system is a new spacecraft designed to carry four astronauts to and from the moon, and support up to six crewmembers on future missions to Mars. The new ship can be reused up to 10 times.

Initial missions will last four to seven days. The new ship carries enough propellant to land anywhere on the moon's surface.

Once a lunar outpost is established, crews could remain on the lunar surface for up to six months.

A heavy-lift rocket blasts off, carrying a lunar lander and a "departure stage" needed to leave Earth's orbit (below left). The crew launches separately (below, center), then docks their capsule with the lander and departure stage and heads for the moon (below, right).

Three days later, the crew goes into lunar orbit (below, left). The four astronauts climb into the lander, leaving the capsule to wait for them in orbit. After landing and exploring the surface for seven days, the crew blasts off in a portion of the lander (below, center), docks with the capsule and travels back to Earth. After a de-orbit burn, the service module is jettisoned, exposing the heat shield for the first time in the mission. The parachutes deploy, the heat shield is dropped and the capsule sets down on dry land (below, right).

ESAS Report – A crowded scheduleESAS Report – A crowded schedule

Section 4.3.7.2:… A notional schedule of scientific investigations conducted during a lunar sortie crew mission is:• Day 1: Collect contingency surface samples and deploy scientific packages and robotic systems;• Days 2 and 3: Conduct field science during surface traverses and correct problems with science packages or robotic systems; and• Day 4 and beyond: Conduct return visits to sites of particular interest or discoveries and correct problems with science packages or robotic systems.

All this and more must be accomplished by the sortie team!

70% of astronaut time on the ISS is devoted to 70% of astronaut time on the ISS is devoted to house-keeping. One might expect a similar house-keeping. One might expect a similar

need for labor-saving automation in need for labor-saving automation in Lunar outpost construction and operations.Lunar outpost construction and operations.

Follow the exciting adventures of Follow the exciting adventures of Astronaut Norm Frobenius and his friends Astronaut Norm Frobenius and his friends

on Moon Base 7!!on Moon Base 7!!

Our CastOur Cast

Norm Frobenius

Mantissa Von MisesGordon KlebschColonel Fu HsiFresnel Van Cittert

Ricci TensorSimbul Christoffel

When his alarm chimed, Norm Frobenius felt When his alarm chimed, Norm Frobenius felt rested and refreshed. It was time to begin a new rested and refreshed. It was time to begin a new “day” of exploration on Moon Base 7. Norm got “day” of exploration on Moon Base 7. Norm got up, stretched and took a leisurely shower (Water up, stretched and took a leisurely shower (Water takes sooo long to fall in 1/6 g!)… takes sooo long to fall in 1/6 g!)…

Norm was a geologist and an expert in “in-situ resource extraction”. Norm’s list of favored items included oxygen in the lunar regolith, water deposits near the poles, (to supply almost all the Base’s water and air requirements) and iron and magnesium deposits and a host of other minerals and metals that allowed the base to produce most of its replacement parts and new equipment.

Now why had Norm slept so soundly?Now why had Norm slept so soundly?

Living quarters

Workshops

Living quarters

… Because every major structural element of Moon Base 7 has embedded sensors and actuators –

• All combined in a system identification system

•A health-monitoring and fault-detection system that can sound the alarm in the case of emergency events

Numerous Existing DCS Technologies Numerous Existing DCS Technologies Can be Adapted to Lunar Outpost Can be Adapted to Lunar Outpost

OperationsOperationsAutonomous Rendezvous & Docking

Robotic Vehicles Teleoperable Robotics

Vision-based nav &

location

Emergency Warning and Response Systems

U of M leads the U of M leads the way into the 21way into the 21stst Century With the Century With the

First Scientific First Scientific Experiment Experiment

Aboard the ISS!!Aboard the ISS!!

Recent MACE II Activity Aboard the ISS…Recent MACE II Activity Aboard the ISS…

Hardware launched and stowed aboard the ISS in September 2000. Experiments performed from Winter ’01 through spring ’01

U. of M. autonomous algorithms “worked like a dream” – i.e. system learned, on-line, to design its own control law and to recover from hardware anomalies. Behavior replicated predictions.

Results are the first space flight demonstration of autonomous, self-reliant spacecraft control.

Frequency Domain Expert: Open- versus Closed-Loop ResultsFrequency Domain Expert: Open- versus Closed-Loop Results

NN/GA Approach – Train a neural net NN/GA Approach – Train a neural net to sound the alarm before failure, use a to sound the alarm before failure, use a

genetic algorithm to select the best genetic algorithm to select the best sensor locationssensor locations

A thin beam flexure (L=10, T A thin beam flexure (L=10, T = 1) is subjected to a lateral = 1) is subjected to a lateral end force.end force.

F(t) is discrete-time, low-pass F(t) is discrete-time, low-pass filtered noise (with filter time filtered noise (with filter time constant = 10)constant = 10)

An end shear load sensor An end shear load sensor measures F and an axial measures F and an axial stress sensor is mounted at stress sensor is mounted at {x{xss, y, yss} within the beam. (In } within the beam. (In effect, we measure effect, we measure ss/F)/F)

Given time history data on Given time history data on ss/F, devise a NN/GA /F, devise a NN/GA algorithm that will give algorithm that will give warning warning beforebefore flexure failure flexure failure

Very thin plastic deformation zone

xF

T

Shear stress sensor

L

F

Propagating crack

xs

ys

Axial stress sensor

Cantilevered Flexure: Failure Cantilevered Flexure: Failure Warning System TrainingWarning System Training

s(k) /F(k)

= 0, if no alarm

= 1, warning of imminent failure

The “right” answer

Backpropagate error to adjust weights

In biological systems, if a “wrong” answer is lethal, backpropagation of error to adjust neural weights cannot operate because just after the wrong response the organism ceases to function. In such cases, the neural weights are adapted via genetic mechanisms.For design simulations, we supply the output error signal and pretend the weights can be adjusted and the adapted system “transferred” to a

still active individual. Hence, for each fixed sensor location we train the n-n to recognize s/F time histories warning of imminent failure

For design simulations, we supply the output error signal and pretend the weights can be adjusted and the adapted system “transferred” to a

still active individual. Hence, for each fixed sensor location we train the n-n to recognize s/F time histories warning of imminent failure

Cantilevered Flexure Example: Cantilevered Flexure Example: Set of Sensor Locations Set of Sensor Locations

considered in GA Applicationconsidered in GA Applicationys

xs

10 2 3 4 5 6 7 8 9

1

0.75

0.50

0.25

21 3 4 5 6 7 8 9 10

4

3

2

1

ys bin

xs bin

0

1

2

1

2

3

4

x coordinate of stress sensor

Population distribution at start of first generation

population

y co

ord

ina

te o

f st

ress

se

nso

r

TextEnd

Initial population distribution: Each one of the sensor location bins is occupied by two individual systems

Population Evolution via GA - Start & First Population Evolution via GA - Start & First GenerationGeneration

12

34

56

78

910

0

5

10

1

2

3

4

x coordinate of stress sensor

Population distribution at start of second generation

population

y co

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inat

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Population after first generation: Most individuals in the (1,1) and (1,2) survive but not those in less favorable locations. Mating occurs across distant locations & the progeny account for the clump around (4,2)

0

2

4

6

1

2

3

4

x coordinate of stress sensor

Population distribution at start of third generation

population

y co

ordi

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of s

tres

s se

nsor

Population after second generation: Distribution drifts steadily to the left. Individuals in (1,1) survive at over 90% rate while survival elsewhere is less than 20%. More mating occurs within the (1,1) location.

12

34

56

78

910

0

5

10

1

2

3

4

x coordinate of stress sensor

Population distribution at start of fourth generation

population

y co

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of s

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Population after third generation: Descendents of the clump near (4,2) are heavily attrited by poor damage warning performance. (1,1) starts to “takeoff” due to mating within location.

12

34

56

78

910

0

5

10

15

1

2

3

4

x coordinate of stress sensor

Population distribution at start of fifth generation

population

y co

ord

inat

e o

f str

ess

sen

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Population after fourth generation: Population in the (1,1) bin now becomes dominant. Probability of mating and progeny in the alternate locations declines rapidly.

12

34

56

78

910

0

10

20

30

1

2

3

4

x coordinate of stress sensor

Population distribution at start of sixth generation

population

y co

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Population after fifth generation: Distribution is entirely dominated by the (1,1) design. This is known a priori to be the most effective sensor location.

Living quarters

Workshops

Living quarters

When Norm got to the base galley, he joined five of the six other crew members for breakfast.

While exchanging pleasantries, he mused that seeing and working with most of the rest of the crew would be impossible in the old days, before the era of Distributed Cooperative Systems (DCS).

Before DCS, half the crew would have had to be awake and on duty at all times because humans had to do all the house keeping chores, maintenance chores and emergency response actions. Norm had read that in the old International Space Station crew spent 70% of their time just maintaining the system, with almost no time for scientific or exploration activity.

But nowadays, most of the crew could maximize their collaborations by working and sleeping on the same schedule – with just one crew member taking “night watch” to serve as monitor and backup for the Base’s DCS. This was possible because the base was a kind of artificial organism, with a rudimentary intelligence, that lived in symbiosis with the humans it nourished and guarded.

Surface Concept - Does not accommodate Surface Concept - Does not accommodate long-term need for radiation shieldinglong-term need for radiation shielding

Moon Base 7Moon Base 7Location: South Lunar PoleLocation: South Lunar Pole

Living quarters

Workshops

Living quarters

Crater rim wall

Water ice deposits

Surface transport garage

Solar arrays line both inner and outer surfaces

of the rim wall

Communications & observatories

O2 production plant

At least 3 m of rock

Continuous sunlight

The base in which they worked was mostly contained within tunnels and cellars bored into the side of a crater ring-wall. This provided enough lunar rock over their heads to stop most of the cosmic radiation – otherwise half

their DNA would be destroyed within a year. The main facilities were connected by several surface access corridors that ran to a variety of

storage and staging facilities located on the surface.

““Top of the morning to you, Norm!” said Ricci.Top of the morning to you, Norm!” said Ricci.

““Good morning! Good morning! How are you, How are you, Rick?”Rick?”

““So did you sleep OK last night?” asked Ricci. So did you sleep OK last night?” asked Ricci.

““Slept like a top – I feel Slept like a top – I feel clear-headed and alert - I clear-headed and alert - I can’t wait to get out to can’t wait to get out to Monterrey Crater” Norm Monterrey Crater” Norm enthused. “But why do enthused. “But why do you ask? We usually sleep you ask? We usually sleep OK.” Ricci paused OK.” Ricci paused nonchalantly and then:nonchalantly and then:

Living quarters

Workshops

Living quarters

zzzz…

“It’s nothing terribly important – it’s just that when I checked the DCS morning activity report, I found that the DCS and Fresnel Van Cittert took care of quite a few little emergencies last sleep period ; Looks like old Fresnel gave the DCS a real workout- or maybe vice versa”

“So, what happened?” asked Norm.

“Well it seems a meterorite punched a hole through an external access corridor, then smashed a power converter, shorting out power to Number 4 air recycling oxigenator. The sudden drop in air pressure caused a few other complications as well.”

Then the DCS controller detected all the problems, formulated an immediate action plan and submitted the plan to

Fresnel. As soon as Fresnel gave his provisional OK, the DCS implemented the plan – The internal air lock to the access corridor

was sealed, DCS robot work crews immediately did a permanent repair, and number 4 oxigenator was put on auxiliary power, while a spare power converter unit was brought in from storage. As we sit

here, almost all the repairs are already done.”

“So how did old Fresnel cope with all that?” asked Norm, beginning to look concerned.

“Well, actually, he didn’t. What happened is that the self-healing structure of the access tube automatically closed the puncture – Thus making a temporary repair.

Construction of Self Healing Construction of Self Healing Space SystemsSpace Systems

Provide continuous healing over lifetime Provide continuous healing over lifetime Integrate the material surface without any ridges Integrate the material surface without any ridges 100 % recovery of mechanical strength 100 % recovery of mechanical strength

A self-healing material is composed of 3 parts A self-healing material is composed of 3 parts Composite material – it is an epoxy polymer composite that Composite material – it is an epoxy polymer composite that

is made up from carbon, glass or Kevlar and a resin. This is made up from carbon, glass or Kevlar and a resin. This material can be used for building the spacecraft. material can be used for building the spacecraft.

Healing agent- the healing agent is a fluid called, Healing agent- the healing agent is a fluid called, dicyclopentadiene or DCPD. The fluid is in the form of dicyclopentadiene or DCPD. The fluid is in the form of encapsulated tiny bubbles that are spread throughout the encapsulated tiny bubbles that are spread throughout the composite material. composite material.

Catalyst – the function of the catalyst called grubb's Catalyst – the function of the catalyst called grubb's catalyst is to enable the healing agent to heal the catalyst is to enable the healing agent to heal the composite material. Catalyst and healing agent are composite material. Catalyst and healing agent are separated until they are required to seal a crack. separated until they are required to seal a crack.

The Self-Healing ProcessThe Self-Healing Process

S.R. White, N.R. Sottos, P.H. Geubelle, J.S. Moore, M.R. Kessler, S.R. Sriram, E.N. Brown, S. Viswanathan: "Autonomic healing of polymer composites", Nature. 409, 794-797 (2001).

Photo courtesy University of Illinois

Scanning electron microscope image of a ruptured microcapsule.

Alternate Approach: Capillary ActionAlternate Approach: Capillary Action

Ian Bond, University of Ian Bond, University of Bristol, UK Bristol, UK

Scott White, University Scott White, University of Illinois Urbana-of Illinois Urbana-Champaign Champaign

Bond and his colleague Bond and his colleague developed a system developed a system analogous to the human analogous to the human system, but replacing system, but replacing blood with resin and blood with resin and veins with tiny glass veins with tiny glass tubes, to fill in cracks or tubes, to fill in cracks or small holes in satellite small holes in satellite “skin” as part of a “skin” as part of a European Space Agency European Space Agency (ESA) program (ESA) program

The adhesive resin flows through The adhesive resin flows through a 40-micron wide space inside a 40-micron wide space inside the glass fibers.the glass fibers.

Other fibers filled with Other fibers filled with hardening agent are intermixed hardening agent are intermixed among their resin-full among their resin-full counterparts to cure and close a counterparts to cure and close a crack or hole. crack or hole.

The method successfully sealed The method successfully sealed breaches in material across a breaches in material across a wide range of temperatures, wide range of temperatures, from -148 degrees to 212 from -148 degrees to 212 degrees Fahrenheit (-100 degrees Fahrenheit (-100 degrees to 100 degrees Celsius), degrees to 100 degrees Celsius), in a vacuum chamber. It also in a vacuum chamber. It also sealed cracks within about 90 sealed cracks within about 90 minutes.minutes.

Self-Healing materials – Additional Self-Healing materials – Additional ReferencesReferences

1. S. Govindarajan, B. Mishra, D. L. Olson, J. J. Moore, J. Disam, "Synthesis of Molybdenum 1. S. Govindarajan, B. Mishra, D. L. Olson, J. J. Moore, J. Disam, "Synthesis of Molybdenum Disilicide on Molybdenum Substrates," Disilicide on Molybdenum Substrates," Surf. Coat. Tech.Surf. Coat. Tech. 76-7776-77, 7-13 (1995). , 7-13 (1995). 2. S. R. White, N. R. Sottos, P. H. Geubelle, J. S. Moore, Mr. R. Kessler, S. R. Sriram, E. N. Brown, 2. S. R. White, N. R. Sottos, P. H. Geubelle, J. S. Moore, Mr. R. Kessler, S. R. Sriram, E. N. Brown, S. Viswanathan, "Autonomic Healing of Polymer Composites," S. Viswanathan, "Autonomic Healing of Polymer Composites," NatureNature 409409, 794-797 (2001). , 794-797 (2001). 3. X. Chen, M. A. Dam, K. Ono, A. Mal, H. Shen, S. R. Nutt, K. Sheran, F. Wudl, "A Thermally Re-3. X. Chen, M. A. Dam, K. Ono, A. Mal, H. Shen, S. R. Nutt, K. Sheran, F. Wudl, "A Thermally Re-mendable Cross-Linked Polymeric Material," mendable Cross-Linked Polymeric Material," ScienceScience 295295, 1698-1702 (2002). , 1698-1702 (2002). 4. M. Trau, D. A. Saville, and I. A. Aksay, "Assembly of Colloidal Crystals at Electrode Interfaces," 4. M. Trau, D. A. Saville, and I. A. Aksay, "Assembly of Colloidal Crystals at Electrode Interfaces," LangmuirLangmuir 1313 [24] 6375-81 (1997). [24] 6375-81 (1997). 5. P. Sakar, X. Huang, O. Prakash, and P. Nicholson, "Electrophoretic Deposition to Synthesize 5. P. Sakar, X. Huang, O. Prakash, and P. Nicholson, "Electrophoretic Deposition to Synthesize Advanced Ceramic/Ceramic Laminar Composites," in Advanced Ceramic/Ceramic Laminar Composites," in Advances in Ceramic-Matrix CompositesAdvances in Ceramic-Matrix Composites N. N. P. Bansal, ed. (American Ceramic Society:Westerville, Ohio, 1993) p. 39. P. Bansal, ed. (American Ceramic Society:Westerville, Ohio, 1993) p. 39. 6. W.B. Spillman Jr., J.S. Sirkis, P.T.Gardiner, "The Field Of Smart Structures As Seen By Those 6. W.B. Spillman Jr., J.S. Sirkis, P.T.Gardiner, "The Field Of Smart Structures As Seen By Those Working In It: Survey Results", Working In It: Survey Results", SPIE, 2444, (1995) 18-27, 2444, (1995) 18-277. J. Hodgkinson, "What Are Smart Materials Anyway?", Materials World. (August 1993) 4497. J. Hodgkinson, "What Are Smart Materials Anyway?", Materials World. (August 1993) 4498. C. Dry, C. Warner, "Biomimetic Bone-Like Polymer Cementitious Composite", 8. C. Dry, C. Warner, "Biomimetic Bone-Like Polymer Cementitious Composite", SPIE, 3040, , 3040, (1997) 251-256.(1997) 251-256.9. B. Files, G.B. Olson, "Terminator 3: Biomimetic Self-Healing Alloy Composite", Proc. Second 9. B. Files, G.B. Olson, "Terminator 3: Biomimetic Self-Healing Alloy Composite", Proc. Second International Conference on Shape Memory Superelastic Technologies: Engineering and International Conference on Shape Memory Superelastic Technologies: Engineering and Biomedical Applications, Pacific Grove, CA, (1997)Biomedical Applications, Pacific Grove, CA, (1997)10. M. McCallum, A, McGeorge, A. Witney, "Terminator 3+: The Biomimetic Smart Steel", (1995)10. M. McCallum, A, McGeorge, A. Witney, "Terminator 3+: The Biomimetic Smart Steel", (1995)11. J. S. Paine, C. A. Rogers, "Shape Memory Alloys for Damage Resistant Composite Structures", 11. J. S. Paine, C. A. Rogers, "Shape Memory Alloys for Damage Resistant Composite Structures", SPIE 2427 Active Materials and Smart Structures, (1995), 358-370 2427 Active Materials and Smart Structures, (1995), 358-37012. Y. Furuya, A. Sasaki, M. Taya, "Enhanced Mechanical Properties of TiNi Shape Memory 12. Y. Furuya, A. Sasaki, M. Taya, "Enhanced Mechanical Properties of TiNi Shape Memory Fiber/Al matrix Composite", Materials Transactions, Fiber/Al matrix Composite", Materials Transactions, JIM, 34, No. 3 (1993), 24-227, 34, No. 3 (1993), 24-22713. M. Taya, Y. Furuya, Y. Yamada, R. Watanabe, S. Shibata, T. Mori, "Strengthening Mechanisms 13. M. Taya, Y. Furuya, Y. Yamada, R. Watanabe, S. Shibata, T. Mori, "Strengthening Mechanisms of TiNi Shape Memory Fiber/Al Matrix Composites", of TiNi Shape Memory Fiber/Al Matrix Composites", SPIE, 1916, (1993), 373-383, 1916, (1993), 373-38314. Y. Yamada, M. Taya, R. Watanabe, "Strengthening of Metal Matrix Composite by Shape 14. Y. Yamada, M. Taya, R. Watanabe, "Strengthening of Metal Matrix Composite by Shape Memory Effect", Materials Transactions, Memory Effect", Materials Transactions, JIM, 34, No. 3 (1993), 254-260, 34, No. 3 (1993), 254-26015. B. Files, "Design of a Biomimetic Self-healing Superalloy Composite", Northwestern University 15. B. Files, "Design of a Biomimetic Self-healing Superalloy Composite", Northwestern University Dissertation Thesis, (1997)Dissertation Thesis, (1997)16. C. Forbell, M. Barney, C. Scharff, W. Lai, "Tin Based Self-healing Alloy", Engineering Design 16. C. Forbell, M. Barney, C. Scharff, W. Lai, "Tin Based Self-healing Alloy", Engineering Design and Communication Class Report (1997)and Communication Class Report (1997)17. B. Sundman, B. Jansson, J.O. Anderson, "17. B. Sundman, B. Jansson, J.O. Anderson, "The Thermo-Calc Databank System", CALPHAD 9 ", CALPHAD 9 (1985) 153(1985) 15318. E. Tao, M. Price, J. Asahara, K. Benes, T. Key, "Terminator III", Engineering Design and 18. E. Tao, M. Price, J. Asahara, K. Benes, T. Key, "Terminator III", Engineering Design and Communication Class Report (1998).Communication Class Report (1998).19. H.C. Cao, B.J. Dalgleish. H.E. Deve, C. Elliott, A.G. Evans, R. Mehrabian, G. R. Odette, "A Test 19. H.C. Cao, B.J. Dalgleish. H.E. Deve, C. Elliott, A.G. Evans, R. Mehrabian, G. R. Odette, "A Test Procedure for Characterizing the Toughening of Brittle Intermetallics by Ductile Reinforcements," Procedure for Characterizing the Toughening of Brittle Intermetallics by Ductile Reinforcements," Acta Metallica, 37, no 11, 2969-1977. Acta Metallica, 37, no 11, 2969-1977.

Pressurized, Self-HeaPressurized, Self-Healing Fabric ling Fabric ConceptConcept

Substrate

Resin

Coagulant

Ultraviolet Radiation

Cosmic Radiation

Meteorites

“Gosh”, said Norm, “It makes you wonder how people ever thought they could do without a DCS.”

“Well”, said Ricci, “It’s history. When you live on Earth, you can take a lot of things for granted. Chances are, while you’re asleep, you won’t be hit by a meteor, you won’t be thrust into vacuum and you won’t run out of oxygen. But out here, you have to guard against all that by yourself. The early explorers tried to do it without DCS and adaptive structures but found they had to spend all their time doing housekeeping things just to stay alive – no time left for much else.”

““We learned that, in space, a Man/Machine We learned that, in space, a Man/Machine Symbiosis is needed to provide a safe, stable Symbiosis is needed to provide a safe, stable

environment.environment.

“ “ To make life bearable for crew, allow reasonable time beyond To make life bearable for crew, allow reasonable time beyond survival duties for exploration and get collaborative synergy survival duties for exploration and get collaborative synergy from crew able to share the same awake periods, we developed from crew able to share the same awake periods, we developed Distributed Cooperative Systems – A symbiosis of Distributed Cooperative Systems – A symbiosis of autonomous machines and structures and the human autonomous machines and structures and the human astronauts it sustains and protects”astronauts it sustains and protects”

Water supply

and reclamationOxygen mining

Air filtration,

CO/CO2 scrubbing,

Oxygenation

Radiation Shielding

Autonomous to Teleoperable robots

Atm

osph

ere

cont

ainm

ent

Comm. &Teleoperation

facilities

Self-healing

Health monitoringDeployable

High E/Repara

ble

Service robots

Situational

awareness Fa

ult r

ecov

ery

& e

mer

genc

y

resp

onse

Norm wished Ricci a good day and headed out of the galley to his geology work station.

Nerissa HeraTitania

Phaedria

CelesteGloria

With a territory the size of western Europe to explore, Norm could not do everything himself. He relied on a squad of robotic geology rovers that were, in essence part of the Base DCS, and that he could monitor and command from the Base. Once important deposits were identified, he would travel out to them himself to verify the discovery and superintend DCS work crews.

Phaedria

Gloria

Celeste

Hera

Nerissa

Titania

Monterrey Crater is 50 kilometers northwest of the base, reached just before the precipitous San Pedro Escarpment. Orbital spectroscopic surveys had hinted that the ten-kilometer wide crater floor could contain rich deposits of useful minerals. Over a week ago, Norm’s crew of robotic geologists had been transported to the site and had been carrying out semi-autonomous geological surveys for the last two days. Norm’s role in this case was to serve as the human supervisor of the robotic work gang.

The team of robot geologists had been working on their own, continuously, for the past two days. So Norm’s first task was to read their activity and status reports, query each robot, if need be, for more detailed information, and then decide to update or re-direct his high-level commands.

He saw that robots Phaedria, Gloria and Celeste had completed one half of a spiral circuit of the crater floor while Nerissa and Titania had finished examining the east interior face of the ring-wall and were presently moving on to the northeast face. Hera, the “Queen” was stationed halfway between both groups, monitoring their operations.

… Norm noticed from Titania’s instruments that she appeared to be approaching a series of interesting striations in the cliff face toward which she had been heading. Norm looked closely at the spectrometer readings as Titania approached closer and closer to the rock wall. Suddenly Norm saw clear indications of Aluminum Oxides!

When important observations like this occurred, the human supervisor would over-ride the robot’s autonomy and run it in telerobotic mode. Thus the presence of an experienced human geologist could be achieved remotely whenever opportunity knocked.

Thus operating Titania, Norm approached the cliff face. A long stripe of darker material appeared across the rock face only one and a half meters above the floor. Here was a massive seam of Aluminum Oxide. Further up the cliff, Norm could see a whole succession of stripes. His instruments showed Boron Silicate and more Aluminum Oxides!

Norm told Hera to concentrate the gang at his location and to comprehensively map the location and extent of these valuable deposits. He added that he would be at the site in person, with additional mining equipment within three hours and that they should keep at their survey until his arrival. Norm then unstrapped himself from the harness, restored autonomy to Titania and raced down the corridor to one of the external access tubes.

Norm takes a rocket pallet loaded with two Mark IV Miners out to Juang crater

CurleyLarry

Curley

Larry

Norm told Larry and Curly to unload themselves from the pallet, then hopped over to where “the six sisters” were exploring the cliff face deposits. Norm then began a “Follow Me” session in which he showed the robots, step-by-step, what to do. When the entire sequence of actions needed to locate the select ore, extract it and load it for transport was acted through, the robot gang and the DCS overseer learned the routine from Norm’s example and devised generalizations needed to carry out the task despite untoward circumstances.

After three hours of work, Norm stepped back a pace and ordered the robot work gang to correctly repeat the sequence he had taught them by example. He looked on in satisfaction as Phaedria and Celeste located the richest deposits, Larry drilled and pounded to extract the ore from the encompassing rock, and Curley collected the precious ore and shoveled it into the cargo containers.

Larry

But as Larry was drilling, a shard of ore hit Norm’s suit, cut a slit in the material and sliced a feed line supplying his suit oxigenator. The first inkling he had that there was something wrong was a message on his visor display:RETURN TO THE PALLET CAB IMMEDIATELY!YOUR SUIT OXIGENATOR HAS MALFUNCTIONED.RETURN TO THE PALLET CAB IMMEDIATELY!Norm raced to the cab, sealed the cab door and laid down unconscious.

Only five minutes later, although it seemed forever, Norm took a deep breath and sat up to find that his suit helmet had become detached from its collar and that the pallet cabin had become, miraculously, fully pressurized. As he was to find out somewhat later, the self-healing material of his suit had prevented depressurization. Also, the Base DCS had taken note of his trip plans to coordinate all its resources for his safe return. The system had monitored his trip progress, and his vital signs as measured by the suit instrumentation. When sensors had discovered his severed oxigenator line, the system had not only flashed the warning on his visor screen but had formulated and carried into effect the plan for his recovery. Before he even reached the pallet, the DCS had begun pressurizing the cabin.

With a sigh of relief, Norm decided to wrap up operations in the crater. He commanded Phaedria and Celeste to stay with the two miners and Gloria, Titania and Hera to continue their survey of the rest of the rim-wall. Finally, he commanded Nerissa to follow his trajectory back to the base, laying tiny transponders along the path in order to guide the robotic cargo-haulers in their round-trip to collect and deliver the ore.

Without further incident, he piloted the pallet back to base, landed and entered the hanger to find that it too was pressurized and filled with the other six crew members of the Base.

As Norm stepped out of the cab, he saw not only the two crew he had spoken to that morning but all five other crew members of Base. Most ominously of all, the Base Director, Colonel Fu Hsi was on hand, looking every bit prepared to give a long-winded speech!

“Welcome back my boy. The DCS main controller alerted us to your suit failure and although the reaction was quick, we were nevertheless quite concerned for your safe return. What’s more, I would like to congratulate you on your accomplishment today. The reports that have come in show that the ore deposits you discovered are even richer than you imagined. With this discovery, once our robot processors refine the ore, this Base will become self-sufficient in structural metals. You’ve earned “shore leave” for the next week.”

With formalities done, Norm and the group started their walk back through the access corridor to return to the main base chambers.

At the prospect of shore leave, Norm was looking forward to spending time with Mantissa Von Mises. Mantissa was also a geologist and she and Norm had met while they were on a large-scale topographic survey.

Now I can visit Mantissa Von

Mises!

“Well done, Norm!” said Ricci as he clapped Norm on the back, interrupting his reverie. “Thanks Ricci, but it’s thanks to Adaptive Structures technology and the DCS that I’m still here.” “All the same”, replied Ricci, “Once the next consignment of solar arrays arrives to power the LCRP (large-component rapid prototyping machine), and your ore gets refined to aluminum, we can start expanding the base, and bring some families out here! “

A central element of the human habitation of the solar system was the integrated collection of technologies that permit small human groups to produce all or most of their consumables (air, water, food), generate power and replenish their tools; all with the maximum use of local resources. And a central element of this “habitation technology” was the ability to fabricate tools and all manner of devices, on the spot, using in-situ materials. Delivery of enough solar array to power the LCRP (already on base), coupled with Norm’s geologic discovery would allow the base to expand quite quickly.

Simbul Christoffel had been walking just behind Norm and Ricci and had been overhearing their conversation. “Sorry my friends, but I must say, I’ve heard disturbing news concerning the solar photovoltaic consignment. This morning, I was watching Earth News and they said the Alderberan heavy launch vehicle had serious technical problems and was grounded pending a full evaluation…”

As Norm stumbled into the Base Recreation Room and despite his shore leave, Mantissa and all else, he felt his expectations sorely deflated…

Norman! Why are you looking so glum?, said Colonel Fu Hsi.

Norman explained his conversation with Simbul Christofel. “It seems our hopes for the future are dashed!”

“Nonsense, my boy!” You must not underestimate the versatility of multi-functional materials! We have abundant supplies of self-healing cave sealant and although we had intended to use the material for structural purposes, it is also equipped with photovoltaic film. When I heard about the Aldeberan, I ordered the cave sealant to be deployed as a solar array fully capable of powering the LCRB. Thanks to multi-functional materials and your ore discoveries, our plans for base expansion can go full speed ahead!”

Technologies for Human Habitation of the Technologies for Human Habitation of the Solar SystemSolar System

Self-Healing Materials and Structures:Self-Healing Materials and Structures: In industrial-scale work, wear and tear is unavoidable.In industrial-scale work, wear and tear is unavoidable. In the unforgiving Lunar environment, instant repair is vital.In the unforgiving Lunar environment, instant repair is vital.

Multi-functional Materials and Structures:Multi-functional Materials and Structures: Replacements and supplies will be infrequent and not reliable.Replacements and supplies will be infrequent and not reliable. The suitability of materials for multiples uses provides system The suitability of materials for multiples uses provides system

reliability through functional redundancy.reliability through functional redundancy. Distributed Cooperative SystemsDistributed Cooperative Systems

Human labor is in Human labor is in extremelyextremely short supply. short supply. A symbiosis of automated systems, robots, smart materials with A symbiosis of automated systems, robots, smart materials with

human astronauts is essential to crew productivity and human astronauts is essential to crew productivity and safety.safety. Sustained Habitation Technology:Sustained Habitation Technology:

A solar system society will not subsist by exchanges of matter A solar system society will not subsist by exchanges of matter but by exchanges of but by exchanges of knowledge and ideas.knowledge and ideas.

We need a moveable package of technologies that allows a We need a moveable package of technologies that allows a small human group to generate most consumables, extract and small human group to generate most consumables, extract and use use in situ in situ resources, and repair and even improve their own resources, and repair and even improve their own tools.tools.

Fin Muchas gracias!