Sample Acquisition and Management Systems for Missions to Mars

Transcription

1 In Proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2004' ESTEC, Noordwijk, The Netherlands, November 2-4, 2004 Sample Acquisition and Management Systems for Missions to Mars Prepared by Piergiovanni Magnani (1), E. Re (1), R. Gelmi (1), A. Olivieri (2) (1) Galileo Avionica via Montefeltro 8, Milano (Italy) (2)ASI Località Terlecchia Matera (Italy) ASTRA ESTEC Table of contents General issues on sampling requirements Sampling requirements for missions to Mars Type of Drill Systems (single rod, multi rod, CTD) Concept of drill tool with shutters Concept of corer tool Concept of Rothal tool Tool performances Sample processing and distribution Devices for sample preparation Schematics for sample processing system Example of sample distribution system: SD2 for Rosetta mission Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec

2 General issues on sampling requirements The collection and subsequent analysis of soil sample materials is of great importance in the exploration of planets and comets. Surface samples: their constituents can potentially represent the different parts of a planet surface and of the surface environment. They can provide insight into surface processes. Subsurface samples: they provide insight into the geological history of the landing site region, including stratigraphic information. These samples are shielded from the upper surface environmental conditions and therefore contain pristine information. Atmospheric samples: they can provide understanding of early hystory of water on the planet and on early evolution of life. Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec Examples of sampling requirements for missions to Mars MARS SAMPLE RETURN (ESA): surface, subsurface and atmosphere samples deepest subsurface sample collected at 1.5 metres sample mass: 0.5 kg (250 cm 3, assuming a soil density of 2 g/ cm 3 ) EXOMARS MISSION, PASTUER PACKAGE (ESA): subsurface samples at a depth of 2 meters samples from surface rocks (beyond weathering ring, c.a. 10 mm) sample size 4 cm in length, 1 cm in diameter MARS SCIENCE LABORATORY (NASA): surface samples down to 120 mm depth sample size cm in length, 0.8 to 1.2 cm in diameter 3.5 cm in diameter abraded spots on rocks Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec

3 Types of Drill Systems Different types of Drill Systems can be adopted depending on mission and resource requirements: Single Rod Drill: for depth of penetration of about 1 meter Multi Rod Drill: for depth of penetration of 2-5 meters Coiled Tube Drill: for depth of penetration > 5 meters Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec Single rod drill system The single rod drill makes use of a single drill tool whose length is sufficient for the drilling depth This drill is relatively long and requires an appropriate volume on the lander or rover for its accommodation It basically has only two mechanisms: drill rotation and drill translation It is a simple equipment, very reliable It can not be used in application where the volume available for stowage is limited Single rod drill system from ASI DeeDri program Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec

4 Multi rod drill system ROTODRILL ACTUATOR CLAMP CLAMP The multi rod drill makes use of a drill tool and a number of extension rods which are summed to obtain the required drilling depth The number of rods and their length depend on the available volume for accommodation and penetration depth The extension rods are accommodated on a dedicated carousel and must be assembled during drilling and disassembled to recover the drill tool and discharge the collected samples DRILL ROD #1 (mounted at integration) GUIDE AND RACK ARM E/E INTERFACE DRILLING RODS CAROUSEL ACTUATOR SAMPLING TOOL/TUBE CLAMP CLAMP AND GUIDE CHAMBER FINE BRUSHES PRE BRUSHES RUPTURE SET CAROUSEL WITH n. 5 DRILLRODS STRUCTURE GUIDES AND RACKS ROTODRILL ACTUATOR DRILLING RODS CAROUSEL ACTUATOR CLAMP Multi rod drill system from ASI DeeDri program Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec Example of multi rod drill system for 5 m depth This concept uses 10 pipes to reach 5 meters penetration depth. The mandrel is placed external to the rods carousel and the collection and deposition of each of the rods requires a translational displacement of the whole carousel. The drill mass is about 11kg and its dimensions c.a. 265x215x860. Drill rotation motor power: 60W. The drill tool is a corer 17 mm diameter working at rpm. Multi rod drill system from ASI DeeDri program: internal views Drilling speed in travertine-like material 1 mm/minute. Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec

5 Coiled Tube Drill system CTD has an excavating head mounted at the end tip of a flexible rigid or semi-rigid guiding tube. the tube can transmit a pushing force from the surface unit to the drilling head; possibility to implement the chip transportation to the surface by means of fluids; deployable probes can be used to collect samples or to conduct down-hole scientific experiments. C COMPRESSOR Coiled tubing reel Tube straightner CO2 and drill cuttings Riser Conductor UNCONSOLIDATED SOIL Coiled tubing Logging sensors Down hole motor Bit Example of CTD developed by Los Alamos Laboratory Example of CTD for Mars exploration (ASI DeeDri program) Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec Concept of drill tool with shutters Prototype developed and tested (ASI DeeDri program) External diameter 35 mm Core diameter 14 mm Drilling to reach Sampling Depth Central Piston in upper position Core Forming Core Cutting (closing Shutters) Drill uplift Sample Discharge Sampling procedure Samples collected by drill tool with shutters: gas concrete, dry sand, travertine, tuff Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec

6 Concept of corer tool Prototype developed and tested (ASI DeeDri program) External diameter 17 mm Core diameter 10 mm Drilling to reach Sampling Depth Central Piston in upper position Core Forming Continuation of Core Forming up to thrust > TBD N (core root detachment) Drill uplift 6 Sample Discharge Sampling procedure Samples collected by drill tool with shutters in travertine, marble Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec Concept of Rothal tool Rothal concept (developed in ASI DeeDri programme) is based on a front transversal cutting disc The main advantage of this approach is the suppression of the zero-speed zone The cutting action results from the combination of two rotary motions: - a fast one for the rotary disc - a lower one of the main tool body for hole formation and chip uplifting. Rothal outer views Rothal: inprint on granite Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec

7 Some tool performances During tool prototype developments (in the frame of asi DeeDri program) extensive testing activities have been carried out in different types of materials. Material Compressive strength σr (MPa) Density g/cm^3 Gas Concrete Travertine Tuff 1-2 matrix hard inclusions Marble Granite Some of the results showing performances in terms of vertical thrust vs. penetration speed are reported in the next charts. Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec Some tool performances Tests in Gasconcrete 35 Test in Tuff Thrust (N) SD2@125rpm D17@125rpm DeeDri@125rpm Rothal@1000rpmD&50rpmd Thrust (N) SD2@125rpm D17@125rpm DeeDri@125rpm Rothal@1000rpmD&100rpmd Penetration speed (mm/min) Advancing speed (mm/min) Thrust (N) Vs. penetration speed (mm/min) Thrust (N) Vs. penetration speed (mm/min) Test results in gas concrete Test results in tuff (from DeeDri program) Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec

8 Some tool performances Test in Travertine Test in marble (for SD2 and D17) and in granite (for rothalsdisk) Thrust (N) Thrust (N) ,5 1 1,5 2 2,5 3 3,5 4 Advancing speed (mm/min) 0 0 0,2 0,4 0,6 0,8 1 1,2 Advancing speed (mm/min) Thrust (N) Vs. penetration speed (mm/min) Thrust (N) Vs. penetration speed (mm/min) Test results in travertine Test results in marble (granite for Rothal) (from DeeDri program) Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec Sample preparation and distribution The collected samples are subject to an on-board processing which is heavily dependant on the type of the serviced instrumentation: sample storage in dedicated vessels and container for earth re-entry sample preparation for analysis by the on-board scientific instrumentation being the latter the most demanding in terms of handling problematics. Some of the on board instrumentation may require samples as collected (e.g. core solid type, if available, or fragmented) for part of their analysis process. In most of the cases the samples need be powdered to a suitable degree of finesse. The processing facilities includes specific devices like polishing station, grinding station, containment vessels, distribution lines (e.g. carousel). The degree of complexity of the processing facility is strongly related to the configuration and number of the on-board apparatus to be served. Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec

9 Devices for sample preparation Push Actuator view A Polishing Spindles Polishing Disks (different properties) Milling Actuator Discharge Port Moving Grinder Vibration Actuator 1 Brush Sample Path A section A Fixed Grinder Vibration Actuator 2 Dosator Actuator A Ovens Waste (or Large Container) Carousel Schematics of Polishing station Schematics of Grinding station Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec Schematics of sample processing system Sample Discharge to Assembly 3 container Grinding Instrument Operations Polishing Optical/ RAMAN AFM IRMA Sample Transfer to Milling Station Milling Tapping Station ( Chemical Analysis Instruments) APXS & Mossbauer Operations Sample Transfer to Assembly 2 and Assembly 1 (by dosator) APXS Mossbauer Schematic of an integrated sample processing system (shown at its top level capability) Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec

10 Example of sample distribution system: SD2 for Rosetta mission MLI Tapping station Carousel Ovens Tapping station Microscope Civa-M (visible) Çiva-M Window OPTICAL PRISM Medium Temperature Oven Microscope Civa-M (I/R) High Temperature Oven Sample distribution by means of carousel and ovens 10 Medium Temperature Ovens for presentation of samples to the microscopes and to interface the tapping stations of the GC/MS 16 High Temperature Ovens to interface the tapping station of the GC/MS Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec Example of sample distribution system: SD2 for Rosetta mission Detail of Carousel SD2 ovens and discharged sample (ASI program) Sample Acquisition and Management Systems for Missions to Mars - ASTRA 2004, estec