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The purpose of this paper is to study the path optimization method of the manipulator in the lunar soil excavation and sampling process. The current research is a practical need for the excavation and sampling of the lunar soil in the lunar exploration project.

This paper proposes the objective function and constraints for path optimization during the excavation process of the lunar soil, regarding excavation time and energy consumption as the two key fitness indexes by analyzing the whole excavation process of the lunar soil. Specifically, the optimization is divided into two consecutive phases, one for the excavation path and the other one for joint motions. In the first phase, the Bézier polynomial is adopted to get the optimal excavation angle and reduce energy consumption. In the second phase, a method based on convex optimization, variable conversion and dynamic process discretization, is used to reduce excavation time and energy consumption.

Controlled experiments on the fine sand and the simulant lunar soil were conducted to verify the feasibility and effectiveness of the two phases of the optimization method, respectively.

The optimization method of the excavation tasks in this paper is of great value in theoretical and practical engineering, and it can be applied in other robotic operational tasks as well.

The purpose of this paper is to present an investigation of the effect of different gravity conditions on the penetration mechanism using the two-dimensional Distinct Element Method (DEM), which ranges from high gravity used in centrifuge model tests to low gravity incurred by serial parabolic flight, with the aim of efficiently analyzing cone penetration tests on the lunar surface.

Seven penetration tests were numerically simulated on loose granular ground under different gravity conditions, i.e. one-sixth, one-half, one, five, ten, 15 and 20 terrestrial gravities. The effect of gravity on the mechanisms is examined with aspect to the tip resistance, deformation pattern, displacement paths, stress fields, stress paths, strain and rotation paths, and velocity fields during the penetration process.

First, under both low and high gravities, the penetration leads to high gradients of the value and direction of stresses in addition to high gradients in the velocity field near the penetrometer. In addition, the soil near the penetrometer undergoes large rotations of the principal stresses. Second, high gravity leads to a larger rotation of principal stresses and more downward particle motions than low gravity. Third, the tip resistance increases with penetration depth and gravity. Both the maximum (steady) normalized cone tip resistance and the maximum normalized mean (deviatoric) stress can be uniquely expressed by a linear equation in terms of the reciprocal of gravity.

This study investigates the effect of different gravity conditions on penetration mechanisms by using DEM.

The purpose of this paper is to evaluate the feasibility of direct fabrication of lunar/Martian regolith simulant parts, in a freeform environment, using Laser Engineering Net Shaping (LENS™) – an additive manufacturing technology.

Bulk lunar regolith simulant structures were fabricated using a LENS™‐750. Dense parts without any macroscopic defects were produced at a laser power of 50W, a scan speed of 20 mm/s, and a powder feed rate of 12.36 g/min. The laser processed parts were characterized using X‐ray diffraction, differential scanning calorimetry, scanning electron microscope and X‐ray photoelectron spectroscopy to evaluate the influence of laser processing on the microstructure, constituent phases and chemistry of lunar regolith simulant.

A combination of laser parameters resulting in a 2.12 J/mm² laser energy appeared to be ideal for generating a melt pool necessary for lunar regolith powder deposition without excessive liquid pool spreading and cracking of solidified parts. The results show that LENS™ based laser processing transformed crystalline regolith into nanocrystalline and/or amorphous regolith structures as a result of complete melting followed by resolidification. Laser processing also resulted in marginal changes in the composition of the regolith.

Establishment of a lunar/Martian outpost necessitates the development of methods to utilize in situ mineral resources for various construction and resource extraction applications. Fabrication technologies are critical for habitat structure development, as well as repair and replacement of tools and parts at the outpost. Current experimental results presented in the paper clearly demonstrate that net shape regolith simulant parts can be fabricated using LENS™ by exploiting its capabilities.

Retained excavation is important for future lunar exploratory missions and potential human colonization that requires the construction of permanent outposts. Knowledge in excavation obtained on the Earth is not directly applicable to lunar excavation because of the low lunar gravity and the non-negligible adhesive van der Waals interactions between lunar regolith grains. This study aims at revealing how the gravity level and lunar environment conditions should be considered to extend the knowledge in Earth excavation response to lunar excavation.

Two-dimensional Discrete Element Method (DEM) simulations were carried out to investigate the respective effect of gravity level and lunar environment conditions (high vacuum and extreme temperature) on retained excavation response. A novel contact model was employed with a moment – relative rotation law to account for the angularity of lunar soil particles, and a normal attractive force to account for the van der Waals interactions.

The simulation results showed that the excavation response is non-linearly related to the gravity level. Van der Waals interactions can increase the dilatancy of lunar regolith and, surprisingly as a consequence, significantly increase the bending moment and deflection of the retaining wall, and the ground displacements. Based on the simulation results, a parabola model was proposed to predict the excavation induced lateral ground movements on the Moon.

This study indicates that an unsafe estimate of the wall response to an excavation on the Moon would be obtained if only the effect of gravity is considered while the effect of van der Waals interactions is neglected.

The purpose of this paper is to investigate the effect of the main process parameters of laser melting (LM) type additive manufacturing (AM) on multi-layered structures manufactured from JSC-1A Lunar regolith (Moondust) simulant powder.

Laser diffraction technology was used to analyse and confirm the simulant powder material particle sizes and distribution. Geometrical shapes were then manufactured on a Realizer SLM™ 100 using the simulant powder. The laser-processed samples were analysed via scanning electron microscopy to evaluate surface and internal morphologies, X-ray fluorescence spectroscopy to analyse the chemical composition after processing, and the samples were mechanically investigated via Vickers micro-hardness testing.

A combination of process parameters resulting in an energy density value of 1.011 J/mm² allowed the successful production of components directly from Lunar regolith simulant. An internal relative porosity of 40.8 per cent, material hardness of 670 ± 11 HV and a dimensional accuracy of 99.8 per cent were observed in the fabricated samples.

This research paper is investigating the novel application of a powder bed fusion AM process category as a potential on-site manufacturing approach for manufacturing structures/components out of Lunar regolith (Moondust). It was shown that this AM process category has the capability to directly manufacture multi-layered parts out of Lunar regolith, which has potential applicability to future moon colonization.

The purpose of the paper is to advance remote robotic fabrication through an iterative and pedagogical protocol for shaping architectural grounds. Advancements in autonomous robotic tools enable to reach increasingly larger scales of architectural and landscape construction and operate in remote and inaccessible sites. In parallel, the relation of architecture to its environment is significantly reconsidered, as the building industry's contribution to the environmental stress increases. In response, new practices emerge, addressing the reshaping and modulation of environments using digital tools. The context of extra-terrestrial architecture provides a ground for exploring these issues, as future practice in this domain relies on the use of remote autonomous means for repurposing local matter. As a result, the novelty in robotic construction laboratories is tied to innovation in architectural pedagogy.

This paper puts forth a pedagogical protocol and iterative framework for digital groundscaping using robotic tools. The framework is demonstrated through an intensive workshop led by the authors. To situate the discussion, digital groundscaping is linked to several conditions that characterize practice and relate to pedagogy. These conditions include the experimental dimension of knowledge in digital fabrication, the convergence of knowledge as part of the blur between the fields of architecture and landscape architecture and the bridging of heterogeneous knowledge sets (virtual and physical), which robotic fabrication on natural terrains entails.

The outcomes of the workshop indicate that iterative processes can assist in applying autonomous design protocols on remote grounds. The protocols were assessed in light of the roles of technological tools, design iterations and material agency in the robotic fabrication.

The paper concludes with observations linking the iterative protocol to new avenues in architectural pedagogy as means of advancing the capacity to digitally design, modulate and transform natural grounds.

In the 1950s, a combination of technological and scientific advancement, political competition, and changes in popular opinion about spaceflight generated public policy in favor of an aggressive space program. This and that of 1960s moved forward with a Moon landing and the necessary budgets. Space exploration reached equilibrium in the 1970s, sustained through to the present. The twenty-first-century progresses signals that support for human space exploration is waning and may even begin declining in the coming years. This chapter reviews this history and analyzes five rationales suggested in support of continued human spaceflight: discovery and understanding, national defense, economic competitiveness, human destiny, and geopolitics.

This paper aims to provide a technical description of the robots that have been deployed in space, primarily on the Moon and Mars.

Following an introduction, this paper describes the robotic devices that have been deployed on the Moon and Mars. It also considers the latest Mars robot mission, the humanoid robot recently deployed on the International Space Station and robotic developments for use during proposed future planetary missions. It concludes with a brief consideration of the impact of space robots on terrestrial robotic technology.

The paper shows that robots have been developed which can withstand the hostile environment of space. They have made a significant contribution to lunar and Martian science and some of the technology has had an impact on terrestrial robots.

This paper provides a technical insight into the robots that have operated on the surfaces of the Moon and Mars.

The purpose of this article is to analyze the state-of-the art in a systematic way, identifying the main research groups and their related topics. The types of studies found are fundamental for understanding the application of artificial neural networks (ANNs) in cemented soils and the potential for using the technique, as well as the feasibility of extrapolation to new geotechnical or civil and environmental engineering segments.

This work is characterized as being bibliometric and systematic research of an exploratory perspective of state-of-the-art. It also persuades the qualitative and quantitative data analysis of cemented soil improvement, biocemented or microbially induced calcite precipitation (MICP) soil improvement by prediction/modeling by ANN. This study sought to compile and study the state of the art of the topic which possibilities to have a critical view about the theme. To do so, two main databases were analyzed: Scopus and Web of Science. Systematic review techniques, as well as bibliometric indicators, were implemented.

This paper connected the network between the achievements of the researches and illustrated the main application of ANNs in soil improvement prediction, specifically on cemented-based soils and biocemented soils (e.g. MICP technique). Also, as a bibliometric and systematic review, this work could achieve the key points in the absence of researches involving soil-ANN, and it provided the understanding of the lack of exploratory studies to be approached in the near future.

Because of the research topic the article suggested other applications of ANNs in geotechnical engineering, such as other tests not related to geomechanical resistance such as unconfined compression test test and triaxial test.

This article systematically and critically presents some interesting points in the direction of future research, such as the non-approach to the use of ANNs in biocementation processes, such as MICP.

Regarding the social environment, the paper brings approaches on methods that somehow mitigate the computational use, or elements necessary for geotechnical improvement of the soil, thereby optimizing the same consequently.

Neural networks have been studied for a long time in engineering, but the current computational power has increased the implementation for several engineering applications. Besides that, soil cementation is a widespread technique and its prediction modes often require high computational strength, such parameters can be mitigated with the use of ANNs, because artificial intelligence seeks learning from the implementation of the data set, reducing computational cost and increasing accuracy.