High porosity chained aggregates from the topsoil of the lunar regolith dust

The unusual behaviour of fine lunar regolith like stickiness and low heat conductivity is dominated by the structural arrangement of its finest fraction. Here, we show the previously unknown phenomenon of a globular 3D superstructure within the dust fraction of regolith. A study using the recently developed Transmission X-ray Microscopy (TXM) with tomographic reconstruction reveals a highly porous network of cellular voids in the finest dust fraction aggregates in lunar soil. Such porous chained aggregates are composed of sub-micron particles that form a network of cellular voids a few micrometers in diameter. Discovery of such a superstructure within the finest fraction of lunar topsoil enables a model of heat transfer to be constructed.

High porosity chained aggregates from the topsoil of the Lunar regolith Dust

The unusual behaviour of fine lunar regolith like stickiness and low heat conductivity is dominated by the structural arrangement of its finest fraction in the outer-most topsoil layer. Here, we show the previously unknown phenomenon of building a globular 3-D superstructure within the dust fraction of the regolith. New technology, Transmission X-ray Microscopy (TXM) with tomographic reconstruction, reveals a highly porous network of cellular void system in the lunar finest dust fraction aggregates. Such porous chained aggregates are composed of sub-micron in size particles that build cellular void networks. Voids are a few micrometers in diameter. Discovery of such a superstructure within the finest fraction of the lunar topsoil allow building a model of heat transfer which is discussed.

Challenges in the construction of a lunar base

The construction of a Lunar Base is seen as achievable. The paper provides a useful summary of challenges facing pioneers of lunar base construction. It highlights important aspects of the location and use of the facility, the local environment, the human physiological adaptation process, and a principal concern for the construction industry—construction materials and methods required to erect the facility. Specific emphasis is placed on the latter two major issues. The authors believe that a lunar base will be built, operated and maintained by humans. It may be the next generation that carry out these dreams, but it is research of the type reported in this paper that will make these dreams a reality.

Electron microscopy of micron-sized lunar soil

We have performed electron-microscopic analysis on 0.5-1.0µm grains in order to study radiation damage by the solar-wind. We are reporting some interesting results we have found in monomineralic grains from core sample 15010,1130. This is a submature soil which has been studied for rare gas abundance and ferromagnetic resonance by (1) and modal petrology by (2).

Towards coordinated multirobot missions for lunar sample collection in an unknown environment

In this paper, the recent results of the space project IMPERA are presented. The goal of IMPERA is the development of a multirobot planning and plan execution architecture with a focus on a lunar sample collection scenario in an unknown environment. We describe the implementation and verification of different modules that are integrated into a distributed system architecture. The modules include a mission planning approach for a multirobot system and modules for task and skill execution within a lunar use-case scenario. The skills needed for the test scenario include cooperative exploration and mapping strategies for an unknown environment, the localization and classification of sample containers using a novel approach of semantic perception, and the skill of transporting sample containers to a collection point using a mobile manipulation robot. Additionally, we present our approach of a reliable communication framework that can deal with communication loss during the mission. Several modules are tested within several experiments in the domain of planning and plan execution, communication, coordinated exploration, perception, and object transportation. An overall system integration is tested on a mission scenario experiment using three robots.

LunaRoo: A Proposal for the Google Lunar XPrize Payload Opportunity with the Part Time Scientists team

This proposal describes the innovative and competitive lunar payload solution developed at the Queensland University of Technology (QUT)–the LunaRoo: a hopping robot designed to exploit the Moon's lower gravity to leap up to 20m above the surface. It is compact enough to fit within a 10cm cube, whilst providing unique observation and mission capabilities by creating imagery during the hop. This first section is deliberately kept short and concise for web submission; additional information can be found in the second chapter.

Inverse Polynomial Based Explicit Guidance for Lunar Soft Landing During Powered Braking

In this paper an explicit guidance law for the powered descent phase of the soft lunar landing is presented. The descent trajectory, expressed in polynomial form is fixed based on the boundary conditions imposed by the precise soft landing mission. Adapting an inverse model based approach, the guidance command is computed from the known spacecraft trajectory. The guidance formulation ensures the vertical orientation of the spacecraft during touchdown. Also a closed form relation for the final flight time is proposed. The final time is expressed as a function of initial position and velocity of the spacecraft ( at the start of descent) and also depends on the desired landing site. To ensure the fuel minimum descent the proposed explicit method is extended to optimal guidance formulation. The effectiveness of the proposed guidance laws are demonstrated with simulation results.

Fuel-optimal G-MPSP Guidance for Powered Descent Phase of Soft Lunar Landing

A fuel optimal nonlinear sub-optimal guidance scheme is presented in this paper for soft landing of a lunar craft during the powered descent phase. The recently developed Generalized Model Predictive Static Programming (G-MPSP) is used to compute the required magnitude and angle of the thrust vector. Both terminal position and velocity vector are imposed as hard constraints, which ensures high position accuracy and facilitates initiation of vertical descent at the end of the powered descent phase. A key feature of the G-MPSP algorithm is that it converts the nonlinear dynamic programming problem into a low-dimensional static optimization problem (of the same dimension as the output vector). The control history update is done in closed form after computing a time-varying weighting matrix through a backward integration process. This feature makes the algorithm computationally efficient, which makes it suitable for on-board applications. The effectiveness of the proposed guidance algorithm is demonstrated through promising simulation results.

Optimal Guidance for Accurate Lunar Soft Landing with Minimum Fuel Consumption using Model Predictive Static Programming

In this paper the soft lunar landing with minimum fuel expenditure is formulated as a nonlinear optimal guidance problem. The realization of pinpoint soft landing with terminal velocity and position constraints is achieved using Model Predictive Static Programming (MPSP). The high accuracy of the terminal conditions is ensured as the formulation of the MPSP inherently poses final conditions as a set of hard constraints. The computational efficiency and fast convergence make the MPSP preferable for fixed final time onboard optimal guidance algorithm. It has also been observed that the minimum fuel requirement strongly depends on the choice of the final time (a critical point that is not given due importance in many literature). Hence, to optimally select the final time, a neural network is used to learn the mapping between various initial conditions in the domain of interest and the corresponding optimal flight time. To generate the training data set, the optimal final time is computed offline using a gradient based optimization technique. The effectiveness of the proposed method is demonstrated with rigorous simulation results.

Lunar and seasonal variations in the catches of Macrobrachium fisheries of the Cross River Estuary, SE Nigeria

Monthly catches of the Macrobrachium fisheries were recorded at a commercial shrimp landing site on the coasts of Calabar (Nigeria), from April 1997 to August 1998. Catches fluctuated over an annual cycle, with two peaks occurring from May-July and November-December. These peaks represented periods of major activities, reproduction, recruitment or migration. Also, mean catches decreased in the months of February and August, corresponding to the peak of dry season and the so-called 'August break', respectively. Catches from active gears (seine, push net) varied among the moon phases too, with a main peak during full moon, and the minimum catch was recorded during the first moon quarter. However, the catch from passive gear (trap) depicted an inverse relationship, showing a peak during the first moon quarter. Variation in catches at different months and moon phases were significant at P:0.05. Recognize these variations and trends would help in management decisions such as defining closed seasons without adversely affecting the economy of the fishers

The distribution and ages of regional lithologies in the lunar maria

A research program was designed (1) to map regional lithological units of the lunar surface based on measurements of spatial variations in spectral reflectance, and, (2) to establish the sequence of the formation of such lithological units from measurements of the accumulated affects of impacting bodies.

Spectral reflectance data were obtained by scanning luminance variations over the lunar surface at three wavelengths (0.4µ, 0.52µ, and 0.7µ). These luminance measurements were reduced to normalized spectral reflectance values relative to a standard area in More Serenitotis. The spectral type of each lunar area was identified from the shape of its reflectance spectrum. From these data lithological units or regions of constant color were identified. The maria fall into two major spectral classes: circular moria like More Serenitotis contain S-type or red material and thin, irregular, expansive maria like Mare Tranquillitatis contain T-type or blue material. Four distinct subtypes of S-type reflectances and two of T-type reflectances exist. As these six subtypes occur in a number of lunar regions, it is concluded that they represent specific types of material rather than some homologous set of a few end members.

The relative ages or sequence of formation of these more units were established from measurements of the accumulated impacts which have occurred since more formation. A model was developed which relates the integrated flux of particles which hove impacted a surface to the distribution of craters as functions of size and shape. Erosion of craters is caused chiefly by small bodies which produce negligible individual changes in crater shape. Hence the shape of a crater can be used to estimate the total number of small impacts that have occurred since the crater was formed. Relative ages of a surface can then be obtained from measurements of the slopes of the walls of the oldest craters formed on the surface. The results show that different maria and regions within them were emplaced at different times. An approximate absolute time scale was derived from Apollo 11 crystallization ages under an assumption of a constant rote of impacting for the last 4 x 10^9 yrs. Assuming, constant flux, the period of mare formation lasted from over 4 x 10^9 yrs to about 1.5 x 10^9 yrs ago.

A synthesis of the results of relative age measurements and of spectral reflectance mapping shows that (1) the formation of the lunar maria occurred in three stages; material of only one spectral type was deposited in each stage, (2) two distinct kinds of maria exist, each type distinguished by morphology, structure, gravity anomalies, time of formation, and spectral reflectance type, and (3) individual maria have complicated histories; they contain a variety of lithic units emplaced at different times.

Interpretation of lunar topography : impact cratering and surface roughness

This work seeks to understand past and present surface conditions on the Moon using two different but complementary approaches: topographic analysis using high-resolution elevation data from recent spacecraft missions and forward modeling of the dominant agent of lunar surface modification, impact cratering. The first investigation focuses on global surface roughness of the Moon, using a variety of statistical parameters to explore slopes at different scales and their relation to competing geological processes. We find that highlands topography behaves as a nearly self-similar fractal system on scales of order 100 meters, and there is a distinct change in this behavior above and below approximately 1 km. Chapter 2 focuses this analysis on two localized regions: the lunar south pole, including Shackleton crater, and the large mare-filled basins on the nearside of the Moon. In particular, we find that differential slope, a statistical measure of roughness related to the curvature of a topographic profile, is extremely useful in distinguishing between geologic units. Chapter 3 introduces a numerical model that simulates a cratered terrain by emplacing features of characteristic shape geometrically, allowing for tracking of both the topography and surviving rim fragments over time. The power spectral density of cratered terrains is estimated numerically from model results and benchmarked against a 1-dimensional analytic model. The power spectral slope is observed to vary predictably with the size-frequency distribution of craters, as well as the crater shape. The final chapter employs the rim-tracking feature of the cratered terrain model to analyze the evolving size-frequency distribution of craters under different criteria for identifying "visible" craters from surviving rim fragments. A geometric bias exists that systematically over counts large or small craters, depending on the rim fraction required to count a given feature as either visible or erased.

Depth-sensitive analysis of fluorine on lunar sample surfaces and in carbonaceous chondrites by a nuclear resonant reaction technique

The nuclear resonant reaction ¹⁹F(ρ,αγ)¹⁶O has been used to perform depth-sensitive analyses of fluorine in lunar samples and carbonaceous chondrites. The resonance at 0.83 MeV (center-of-mass) in this reaction is utilized to study fluorine surface films, with particular interest paid to the outer micron of Apollo 15 green glass, Apollo 17 orange glass, and lunar vesicular basalts. These results are distinguished from terrestrial contamination, and are discussed in terms of a volcanic origin for the samples of interest. Measurements of fluorine in carbonaceous chondrites are used to better define the solar system fluorine abundance. A technique for measurement of carbon on solid surfaces with applications to direct quantitative analysis of implanted solar wind carbon in lunar samples is described.