Development of a multi-sample acquisition technique for efficient planetary subsurface exploration

Pitcher, Craig; Pang, Xavier; Alkalla, Mohamed G.; Gao, Yang

doi:10.1016/j.actaastro.2022.06.008

Cited by 4 publications

(2 citation statements)

References 25 publications

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“…The authors investigated how the bit morphology affects drilling performances and proposed preliminary DEM simulations for analyzing multiple designs rapidly and provide information to experimental campaigns [37]. The authors later adopted DEM and multi-body dynamics (MBD) co-simulations to analyze different drilling methods and soil sampling, highlighting how penetration depth and contact forces depend on the tool-soil interactions [38], [39]. It is evident that numerical model-based analyses represent a key tool to evaluate, in combination with experimental campaigns, the performances of systems that operate in a certain environment and, therefore, to investigate their optimal design requirements.…”

Section: Introductionmentioning

confidence: 99%

A Methodology to Investigate the Design Requirements of Plant Root-Inspired Robots for Soil Exploration

Pirrone

Dottore

Sibille

et al. 2023

IEEE Robot. Autom. Lett.

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This paper proposes a methodology to investigate soil penetration requirements to extract specifications for designing robotic soil excavators and explorers. To this purpose, a three-dimensional (3-D) numerical model based on the Discrete Element Method (DEM) is proposed to simulate an intruder penetration and its interaction with the environment. In this study, the penetration process was analyzed as a function of the intruder diameter to median particle size ratio (Droot/D50), highlighting important differences for small and big ratios conditions (i.e., Droot/D50<<1 and Droot/D50>>1). In particular, the soil resistance force that autonomous penetration systems must overcome when moving into cohesionless granular soil was estimated based on the intruder size (diameter) and the median granularity (D50). This study estimates how the penetration requirements vary according to different penetration strategies. Specifically, a plant root-inspired axial movement emulating the growth from the tip adopted by plants is compared with a penetration obtained by pushing a system from the top. Our findings provide important guidelines about the design requirements (system size, penetration strategy, and actuation power) for artificial penetrating systems, like autonomous explorative robots, to improve their performances during underground exploration.

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Section: Introductionmentioning

confidence: 99%

A Methodology to Investigate the Design Requirements of Plant Root-Inspired Robots for Soil Exploration

Pirrone

Dottore

Sibille

et al. 2023

IEEE Robot. Autom. Lett.

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“…This drill consists of the main tool and three extension rods, shown in figure 2, which are connected together to achieve a maximum drilling depth of 2 m. A dedicated sampling tube is held within the drill tip that is opened by a shutter, into which the subsurface core can be collected as the drill further penetrates the substrate then close to cut off the core. In parallel to the proposed DROD design, a study focusing on the development of a self-contained, lightweight design based on the wood wasp has successfully implemented a multi-sampling mechanism by Pitcher et al [30]. This system demonstrated both subsurface sampling at depths of more than 60 mm, and the first successful acquisition of multiple independent samples taken at different depths with four separate sample compartments, as shown in figure 3.…”

Section: Introductionmentioning

confidence: 99%

DROD: bio-robotic drill/sampler for planetary subterranean exploration: experiments and challenges

Alkalla,

Pitcher

2023

Bioinspir. Biomim.

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Key features for space exploration equipment, and in particular drills and sampling mechanisms, are low weight, small size, and energy efficiency. These characteristics are substantially required not only in reducing the spaceship flight cost, but also in extending the exploration time on the extraterrestrial bodies. This article experimentally investigates the feasibility of a novel drill bioinspired by wood-wasp and sand-fish lizard as an integrated robotic solution for rover exploration tasks. A new penetration depth of 820 mm in terms of reciprocation drilling technique has been achieved by the proposed dual reciprocation and oscillation drill (DROD), especially with the new enhancements such as miniature sample compartment and toothed stems. Additionally, a first sampling experiment with DROD has been performed and a sample amount of 20 g and size of 30 cm3 has been collected successfully. Finally, the article provides developments for integration of DROD with rovers for future exploration missions and potentials for horizontal drilling for subterranean applications.

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Micro quantitative sampling using electric adsorption for lunar in-situ volatiles exploration: Method and validation

et al. 2023

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Development of a multi-sample acquisition technique for efficient planetary subsurface exploration

Cited by 4 publications

References 25 publications

A Methodology to Investigate the Design Requirements of Plant Root-Inspired Robots for Soil Exploration

A Methodology to Investigate the Design Requirements of Plant Root-Inspired Robots for Soil Exploration

DROD: bio-robotic drill/sampler for planetary subterranean exploration: experiments and challenges

Micro quantitative sampling using electric adsorption for lunar in-situ volatiles exploration: Method and validation

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