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In the companion paper ("Erosion rate of lunar soil under a landing rocket, part 1: identifying the rate-limiting physics", this issue) an equation was developed for the rate that lunar soil erodes under the exhaust of a landing rocket. That equation has only one parameter that is not calibrated from first principles, so here it is calibrated by the blowing soil's optical density curve during an Apollo landing. An excellent fit is obtained, helping validate the equation. However, when extrapolating the erosion rate all the way to touchdown on the lunar surface, a soil model is needed to handle the increased resistance to erosion as the deeper, more compacted soil is exposed. Relying on models derived from Apollo measurements and from Lunar Reconnaissance Orbiter (LRO) Diviner thermal inertia measurements, only one additional soil parameter is unknown: the scale of increasing cohesive energy with soil compaction. Treating this as an additional fitting parameter results in some degeneracy in the solutions, but the depth of erosion scour in the post-landing imagery provides an additional constraint on the solution. The results show that about 4 to 10 times more soil was blown in each Apollo landing than previously believed, so the potential for sandblasting damage is worse than prior estimates. This also shows that, with further development, instruments to measure the soil erosion during lunar landings can constrain the soil column's density profile complementary to the thermal inertia measurements, providing insight into the landing site's geology., Comment: 20 pages, 8 figures

Multiple nations are planning activity on the Moon's surface, and to deconflict lunar operations we must understand the sandblasting damage from rocket exhaust blowing soil. Prior research disagreed over the scaling of the erosion rate, which determines the magnitude of the damage. Reduced gravity experiments and two other lines of evidence now indicate that the erosion rate scales with the kinetic energy flux at the bottom of the laminar sublayer of the gas. Because the rocket exhaust is so fast, eroded particles lifted higher in the boundary layer do not impact the surface for kilometers (if at all; some leave the Moon entirely), so there is no saltation in the vicinity of the gas. As a result, there is little transport of gas kinetic energy from higher in the boundary layer down to the surface, so the emission of soil into the gas is a surprisingly low energy process. In low lunar gravity, a dominant source of resistance to this small energy flux turns out to be the cohesive energy density of the lunar soil, which arises primarily from particles in the 0.3 to 3 micron size range. These particles constitute only a tiny fraction of the mass of lunar soil and have been largely ignored in most studies, so they are poorly characterized., Comment: 18 pages, 2 figures

We have studied several field geotechnical test instruments for their applicability to lunar soil simulants and analog soils. Their performance was evaluated in a series of tests in lunar simulants JSC-1A, NU-LHT-2M, and CHENOBI each prepared in carefully controlled states of compaction through vibration on a shake table with overburden. In general, none of the instruments is adequate for a low-cohesion, frictional soil, but we find that a modified version of a shear vane tester allows us to extract several of the important soil parameters. This modified instrument may be useful for use on the lunar surface by astronauts or a robotic lander. We have also found that JSC-1A does not behave mechanically like the other lunar soil simulants, probably because its particle shapes are more rounded. Furthermore we have studied a soil material, BP-1, identified as very lunar-like at a lunar analog location. We find this material has a natural particle size distribution similar to that of lunar soil and arguably better than JSC-1A. We find that BP-1 behaves very similarly to the high fidelity lunar simulants NU-LHT-2M and CHENOBI., Comment: 15 pages, 14 figures. Presented at Earth & Space 2010 conference

Modeling has been developed to support the development of volatile extraction technologies for the Moon, Mars, asteroids, or other bodies. This type of modeling capability is important to avoid the high cost of multiple test campaigns in simulated lunar conditions as the hardware design is iterated. The modeling uses the Crank-Nicholson algorithm applied in a two dimensional (2D) axisymmetric (extendable to 3D) finite difference formalism. It uses soil thermal parameters developed from Apollo soil measurements with adaptations for asteroid regolith. Simulations show that it successfully replicates thermal measurements on the surfaces of asteroids and the Moon and helps interpret those measurements to provide insight into the subsurface properties of those bodies. The 2D simulations have provided insight into the cooling of a lunar drill bit and provide a method to determine the original subsurface temperature despite the presence of the warm bit., Comment: 12 pages, 3 figures. Presented at Earth & Space 2018 conference

Tools have been developed to model and simulate the effects of lunar landing vehicles on the lunar environment, mostly addressing the effects of regolith erosion by rocket plumes and the fate of the ejected lunar soil particles. The KSC Granular Mechanics and Regolith Operations Lab tools have now been expanded to address volatile contamination of the lunar surface (Stern, 1999). Landing nearby such a crater will result in the migration of significant exhaust plume gas into the cold trap of the crater, and will also create an unnatural atmosphere over the volatile reservoirs that are to be studied. Our calculations address: 1) the time for the plume-induced local atmosphere above cold traps to decay to normal levels, 2) the efficiency of gas migration into a permanently shadowed crater when the landing is outside it but nearby, and 3) reduction on contamination afforded by moving the landing site further from the crater or by topographically shielding the crater from the direct flux of a lander's ground jet. We also address plume volatiles adsorbed onto and driven inside soil ejecta particles from their residence in the high pressure stagnation region of the engine exhaust plume, and how their mechanical dispersal across the lunar surface contributes to the induced atmosphere. One additional question is whether the collection of soil ejecta along the base of a topographic feature will produce a measurable plume volatile release distinct from the background. We mostly address item 2). Item 3) is obvious from our results excepting that the removal distances may be large, but changes to landing strategy can improve the situation., Comment: 13 pages, 18 figures. Presented at Earth & Space 2014 conference

The first asteroid simulants workshop was held in late 2015. These materials are needed for tests of technologies and mission operational concepts, for training astronauts , for medical studies, and a variety of other purposes. The new program is based on lessons learned from the earlier lunar simulants program. It aims to deliver families of simulants for major spectral classes of asteroids both in cobble and regolith form, beginning with one type of carbonaceous chondrite and rapidly expanding to provide four to six more asteroid classes. These simulants will replicate a selected list of asteroid properties, but not all known properties, in order to serve the greatest number of users at an affordable price. They will be benchmarked by a variety of data sets including laboratory analysis of meteorites, observation of bolides, remote sensing of asteroids, data from asteroid missions, and scientific modeling. A variety of laboratory tests will verify the as-manufactured simulants are accurately and repeatedly providing the specified characteristics., Comment: 13 pages, no figures. Presented at Earth & Space 2016 conference

The Apollo 12 lunar module (LM) landing near the Surveyor III spacecraft at the end of 1969 has remained the primary experimental verification of the predicted physics of plume ejecta effects from a rocket engine interacting with the surface of the moon. This was made possible by the return of the Surveyor III camera housing by the Apollo 12 astronauts, allowing detailed analysis of the composition of dust deposited by the LM plume. It was soon realized after the initial analysis of the camera housing that the LM plume tended to remove more dust than it had deposited. In the present study, coupons from the camera housing have been reexamined. In addition, plume effects recorded in landing videos from each Apollo mission have been studied for possible clues. Several likely scenarios are proposed to explain the Surveyor III dust observations. These include electrostatic levitation of the dust from the surface of the Moon as a result of periodic passing of the day-night terminator; dust blown by the Apollo 12 LM flyby while on its descent trajectory; dust ejected from the lunar surface due to gas forced into the soil by the Surveyor III rocket nozzle, based on Darcy's law; and mechanical movement of dust during the Surveyor landing. Even though an absolute answer may not be possible based on available data and theory, various computational models are employed to estimate the feasibility of each of these proposed mechanisms. Scenarios are then discussed which combine multiple mechanisms to produce results consistent with observations., Comment: 10 pages, 10 figures. Presented at Earth & Space 2012 conference

A physics-based computer model has been developed to support the development of volatile extraction from regolith of the Moon and asteroids. The model is based upon empirical data sets for extraterrestrial soils and simulants, including thermal conductivity of regolith and mixed composition ice, heat capacity of soil and mixed composition ice, hydrated mineral volatile release patterns, and sublimation of ice. A new thermal conductivity relationship is derived that generalizes cases of regolith with varying temperature, soil porosity, and pore vapor pressure. Ice composition is based upon measurements of icy ejecta from the Lunar CRater Observation and Sensing Satellite (LCROSS) impact and it is shown that thermal conductivity and heat capacity equations for water ice provide adequate accuracy at the present level of development. The heat diffusion equations are integrated with gas diffusion equations using multiple adaptive timesteps. The entire model is placed into a Crank-Nicholson framework where the finite difference formalism was extended to two dimensions in axisymmetry. The one-dimensional version of the model successfully predicts heat transfer that matches lunar and asteroid data sets. The axisymmetric model has been used to study heat dissipation around lunar drills and water extraction in asteroid coring devices., Comment: 50 pages, 23 figures

A mathematical model and software implementation developed to predict trajectories of single lunar dust particles acted on by a high velocity gas flow is discussed. The model uses output from a computation fluid dynamics (CFD) or direct simulation Monte Carlo (DSMC) simulation of a rocket nozzle hot gas jet. The gas density, velocity vector field, and temperature predicted by the CFD/DSMC simulations, provide the data necessary to compute the forces and accelerations acting on a single particle of regolith. All calculations of trajectory assume that the duration of particle flight is much shorter than the change in gas properties, i.e., the particle trajectory calculations take into account the spatial variation of the gas jet, but not the temporal variation. This is a reasonable first-order assumption. Final results are compared to photogrammetry derived estimates of dust angles form Apollo landing videos., Comment: 9 pages, 9 figures. Presented at Earth & Space 2008 conference

With NASA's planned return to the moon and possibly with lunar outposts being formed, repeated landings at the same site will be necessary. Understanding rocket plume interaction with lunar and Martian surfaces is of paramount importance in order to safely land and protect hardware surrounding the landing site. This work will report on results of three small experiments intended to explore plume impingement onto lunar and Martian surfaces: Handheld Observation of Scour Holes (HOOSH), Handheld Angle of Repose Measurements of Lunar Simulants (HARMLuS), and Mars Architecture Team study (MATS). The first two experiments were performed during two sorties of reduced gravity flights. HOOSH was designed to investigate crater formation as a function of gravitational level (lunar and Martian gravity). HARMLuS was designed to measure the Angle of Failure (related to the angle of repose) at lunar and Martian gravity. Both experiments have complex findings indicative of the hysteretic behavior of granular materials, especially resulting from reduced gravity. The MATS experiment was designed to investigate the effects of regolith compaction on the granular mechanics of crater formation. In general, the granular mechanics is a much stronger function of compaction than gravitation acceleration. Crater formation is greatly enhanced at reduced gravity (resulting in much larger craters). The angle of failure of the lunar simulants increases with decreasing gravitational acceleration, and occasionally becomes infinite for some compactions at lunar gravity. The angle of failure also increases with increasing compaction. While compaction does play a role in the time development of crater formation, the asymptotic behavior is largely unaffected., Comment: 9 pages, 8 figures. Presented at Earth & Space 2010 conference

The physical state of the lunar soil in the permanently shadowed craters of the moon is inferred from experimental investigation. The permanently shadowed craters do not undergo the same thermal cycling experienced by other parts of the moon and therefore could be slightly less compacted. This study is significant because excavating, roving, and landing interactions, along with the energy budgets and deployment schedules for associated technology, need to be scaled and designed properly. Results indicate that the degree of compaction due to thermal cycling is a function of the depth in the soil column., Comment: 6 pages, 3 figures. Presented at Earth & Space 2010 conference

This manuscript analyzes lunar lander soil erosion models and trajectory models to calculate how much damage will occur to spacecraft orbiting in the vicinity of the Moon. The soil erosion models have considerable uncertainty due to gaps in our understanding of the basic physics. The results for ~40 t landers show that the Lunar Orbital Gateway will be impacted by 1000s to 10,000s of particles per square meter but the particle sizes are very small and the impact velocity is low so the damage will be slight. However, a spacecraft in Low Lunar Orbit that happens to pass through the ejecta sheet will sustain extensive damage with hundreds of millions of impacts per square meter: although they are small, they are in the hypervelocity regime, and exposed glass on the spacecraft will sustain spallation over 4% of its surface., Comment: 10 pagers, 8 figures

This study estimates the cost of building lunar landing pads and examines whether any construction methods are economically superior to others. Some proposed methods require large amounts of mass transported from the Earth, others require high energy consumption on the lunar surface, and others have a long construction time. Each of these factors contributes direct and indirect costs to lunar activities. The most important economic variables turn out to be the transportation cost to the lunar surface and the magnitude of the program delay cost imposed by a construction method. The cost of a landing pad depends sensitively on the optimization of the mass and speed of the construction equipment, so a minimum-cost set of equipment exists for each construction method within a specified economic scenario. Several scenarios have been analyzed across a range of transportation costs with both high and low program delay costs. It is found that microwave sintering is currently the most favorable method to build the inner, high temperature zone of a lunar landing pad, although other methods are within the range of uncertainty. The most favorable method to build the outer, low temperature zone of the landing pad is also sintering when transportation costs are high, but it switches to polymer infusion when transportation costs drop below about \$110K/kg to the lunar surface. It is estimated that the Artemis Basecamp could build a landing pad with a budgeted line-item cost of \$229M assuming that transportation costs will be reduced modestly from the current rate \$1M/kg to the lunar surface to \$300K/kg. A landing pad drops to \$130M when the transportation cost drops further to \$100K/kg, or to \$47M if transportation costs fall below \$10K/kg. Ultimately, landing pads can be built around the Moon at very low cost, due to economies of scale., Comment: 50 pages, 15 figures

We argue that taxonomical concept development is vital for planetary science as in all branches of science, but its importance has been obscured by unique historical developments. The literature shows that the concept of planet developed by scientists during the Copernican Revolution was theory-laden and pragmatic for science. It included both primaries and satellites as planets due to their common intrinsic, geological characteristics. About two centuries later the non-scientific public had just adopted heliocentrism and was motivated to preserve elements of geocentrism including teleology and the assumptions of astrology. This motivated development of a folk concept of planet that contradicted the scientific view. The folk taxonomy was based on what an object orbits, making satellites out to be non-planets and ignoring most asteroids. Astronomers continued to keep primaries and moons classed together as planets and continued teaching that taxonomy until the 1920s. The astronomical community lost interest in planets ca. 1910 to 1955 and during that period complacently accepted the folk concept. Enough time has now elapsed so that modern astronomers forgot this history and rewrote it to claim that the folk taxonomy is the one that was created by the Copernican scientists. Starting ca. 1960 when spacecraft missions were developed to send back detailed new data, there was an explosion of publishing about planets including the satellites, leading to revival of the Copernican planet concept. We present evidence that taxonomical alignment with geological complexity is the most useful scientific taxonomy for planets. It is this complexity of both primary and secondary planets that is a key part of the chain of origins for life in the cosmos., Comment: 68 pages, 16 figures. For supplemental data files, see https://www.philipmetzger.com/moons_are_planets

We argue that taxonomical concept development is vital for planetary science as in all branches of science, but its importance has been obscured by unique historical developments. The literature shows that the concept of planet developed by scientists during the Copernican Revolution was theory-laden and pragmatic for science. It included both primaries and satellites as planets due to their common intrinsic, geological characteristics. About two centuries later the non-scientific public had just adopted heliocentrism and was motivated to preserve elements of geocentrism including teleology and the assumptions of astrology. This motivated development of a folk concept of planet that contradicted the scientific view. The folk taxonomy was based on what an object orbits, making satellites out to be non-planets and ignoring most asteroids. Astronomers continued to keep primaries and moons classed together as planets and continued teaching that taxonomy until the 1920s. The astronomical community lost interest in planets ca. 1910 to 1955 and during that period complacently accepted the folk concept. Enough time has now elapsed so that modern astronomers forgot this history and rewrote it to claim that the folk taxonomy is the one that was created by the Copernican scientists. Starting ca. 1960 when spacecraft missions were developed to send back detailed new data, there was an explosion of publishing about planets including the satellites, leading to revival of the Copernican planet concept. We present evidence that taxonomical alignment with geological complexity is the most useful scientific taxonomy for planets. It is this complexity of both primary and secondary planets that is a key part of the chain of origins for life in the cosmos., Comment: 68 pages, 16 figures. For supplemental data files, see https://www.philipmetzger.com/moons_are_planets

Small scale jet-induced erosion experiments are useful for identifying the scaling of erosion with respect to the various physical parameters (gravity, grain size, gas velocity, gas density, grain density, etc.), and because they provide a data set for benchmarking numerical flow codes. We have performed experiments varying the physical parameters listed above (e.g., gravity was varied in reduced gravity aircraft flights). In all these experiments, a subsonic jet of gas impinges vertically on a bed of sand or lunar soil simulant forming a localized scour hole beneath the jet. Videography captures the erosion and scour hole formation processes, and analysis of these videos post-test identifies the scaling of these processes. This has produced important new insights into the physics of erosion. Based on these insights, we have developed an erosion rate model that can be applied to generalized situations, such as the erosion of soil beneath a horizontal gas flow on a planetary surface. This is important to lunar exploration because the rate of erosion beneath the rocket exhaust plume of a landing spacecraft will determine the amount of sand-blasting damage that can be inflicted upon surrounding hardware. Although the rocket exhaust plume at the exit of the nozzle is supersonic, the boundary layer on the lunar surface where erosion occurs is subsonic. The model has been benchmarked through comparison with the Apollo landing videos, which show the blowing lunar soil, and computational fluid dynamics simulations of those landings., Comment: 17 pages, 11 figures

The Constellation Project's planned return to the moon requires numerous landings at the same site. Since the top few centimeters are loosely packed regolith, plume impingement from the Lander ejects the granular material at high velocities. Much work is needed to understand the physics of plume impingement during landing in order to protect hardware surrounding the landing sites. While mostly qualitative in nature, the Apollo Lunar Module landing videos can provide a wealth of quantitative information using modern photogrammetry techniques. The authors have used the digitized videos to quantify plume impingement effects of the landing exhaust on the lunar surface. The dust ejection angle from the plume is estimated at 1-3 degrees. The lofted particle density is estimated at 10^8 - 10^13 particles/m^3. Additionally, evidence for ejection of large 10-15 cm sized objects and a dependence of ejection angle on thrust are presented. Further work is ongoing to continue quantitative analysis of the landing videos., Comment: 9 pages, 9 figures

When launching or landing a spacecraft on the regolith of a terrestrial surface, special attention needs to be paid to the rocket exhaust cratering effects. If the effects are not controlled, the rocket cratering could damage the spacecraft or other surrounding hardware. The cratering effects of a rocket landing a planet's surface are not understood well, especially for the lunar case with the plume expanding in vacuum. As a result, the blast effects cannot be estimated sufficiently using analytical theories. It is necessary to develop physics-based simulation tools in order to calculate mission-essential parameters. In this work we test out the scaling laws of the physics in regard to growth rate of the crater depth. This will provide the physical insight necessary to begin the physics-based modeling., Comment: 3 pages, 3 figures

Roberts' model of lunar soil erosion beneath a landing rocket has been updated in several ways to predict the effects of future lunar landings. The model predicts, among other things, the number of divots that would result on surrounding hardware due to the impact of high velocity particulates, the amount and depth of surface material removed, the volume of ejected soil, its velocity, and the distance the particles travel on the Moon. The results are compared against measured results from the Apollo program and predictions are made for mitigating the spray around a future lunar outpost., Comment: 8 pages, 8 figures

Previously we presented a numerical model that predicts trajectories of lunar dust, soil, and gravel blown by the engine exhaust of a lunar lander. The model uses the gas density, velocity vector field, and temperature predicted by computational fluid dynamics (CFD) or Direct Simulation Monte Carlo (DSMC) simulations to compute the forces and accelerations acting on the regolith particles, one particle at a time (ignoring particle collisions until more advanced models are developed). Here we present significant improvements to the model, including the implementation of particle drag and lift formulas to account for the rarefaction and compressibility of the flow. It turns out that the drag force is reduced due to the rarefaction, but the lift is increased due to several effects such as particle rotation. A data matrix of particle sizes, engine thrusts (descent and ascent values for Altair), horizontal and vertical starting distances, and lander height above ground, have been tested using the latest version of the software. These results suggest that the previously reported 3 degree trajectory angle limit can be exceeded in several cases by as much as a factor of five. Particles that originate at a height of 1 cm above the surface from an outer crater rim can be propelled to angles of 5 degrees or more. Particles that start at 10 cm above the surface can be ejected with angles of up to 15 degrees. Mechanisms responsible for placing particles at starting heights above the surface may include the kinetics of horizontal collisions, as suggested by Discrete Element Method (DEM) simulations. We also present results showing the distance particles travel and their impact velocities. We then use the model to evaluate the effectiveness of berms or other methods to block the spray of soil at a lunar landing site., Comment: 9 pages, 6 figures

Experiments, analyses, and simulations have shown that the engine exhaust plume of a Mars lander large enough for human spaceflight will create a deep crater in the martian soil, blowing ejecta to approximately 1 km distance, damaging the bottom of the lander with high-momentum rock impacts, and possibly tilting the lander as the excavated hole collapses to become a broad residual crater upon engine cutoff. Because of this, we deem that we will not have adequate safety margins to land humans on Mars unless we robotically stabilize the soil to form in situ landing pads prior to the mission. It will take a significant amount of time working in a harsh off-planet environment to develop and certify the new technologies and procedures for in situ landing pad construction. The only place to reasonably accomplish this is on the Moon., Comment: 19 pages, 17 figures

Several physical mechanisms are involved in excavating granular materials beneath a vertical jet of gas. These occur, for example, beneath the exhaust plume of a rocket landing on the soil of the Moon or Mars. A series of experiments and simulations have been performed to provide a detailed view of the complex gas/soil interactions. Measurements have also been taken from the Apollo lunar landing videos and from photographs of the resulting terrain, and these help to demonstrate how the interactions extrapolate into the lunar environment. It is important to understand these processes at a fundamental level to support the on-going design of higher-fidelity numerical simulations and larger-scale experiments. These are needed to enable future lunar exploration wherein multiple hardware assets will be placed on the Moon within short distances of one another. The high-velocity spray of soil from landing spacecraft must be accurately predicted and controlled lest it erosively damage the surrounding hardware., Comment: 6 pages, 5 figures

A significant opportunity for synergy between pure research and asteroid resource research exists. We provide an overview of the state of the art in asteroid resource utilization, and highlight where we can accelerate the closing of knowledge gaps, leading to the utilization of asteroid resources for growing economic productivity in space., Comment: 7 page whitepaper submitted to Planetary Science Decadal Survey

This 2020 Decadal Survey White Paper reviews what is known about lunar and martian lander Plume Surface Interactions (PSI) during powered descent. This includes an overview of the phenomenology and a description of the induced hardware and environmental impacts. Then it provides an overview of mitigation techniques and a summary of the outstanding questions and strategic knowledge gaps. It finishes with five recommendations: to include dedicated descent imagers on every surface mission so that PSI can be directly recorded and reviewed by ground teams; as far as possible, to make all data related to PSI effects publicly accessible; to develop methods and instruments for making key measurements of PSI; to assess and record key flight data; and to invest funding into studies of long-term infrastructure architectures and mitigation techniques., Comment: 8 pages

NASA has developed a "Figure of Merit" method to grade the fidelity of lunar simulants for scientific and engineering purposes. Here we extend the method to grade asteroid simulants, both regolith and cobble variety, and we apply the method to the newly developed asteroid regolith and cobble simulant UCF/DSI-CI-2. The reference material that is used to evaluate this simulant for most asteroid properties is the Orgueil meteorite. Those properties are the mineralogical and elemental composition, grain density, bulk density of cobbles, magnetic susceptibility, mechanical strength of cobbles, and volatile release patterns. To evaluate the regolith simulant's particle sizing we use a reference model that was based upon the sample returned from Itokawa by Hayabusa, the boulder count on Hayabusa, and four cases of disrupted asteroids that indicate particle sizing of the subsurface material. Compared to these references, the simulant has high figures of merit, indicating it is a good choice for a wide range of scientific and engineering applications. We recommend this methodology to the wider asteroid community and in the near future will apply it to additional asteroid simulants currently under development., Comment: 42 pages, 11 figures

When creating asteroid regolith simulant, it is necessary to have a model of asteroid regolith to guide and to evaluate the simulant. We created a model through evaluation and synthesis of the available data sets including (1) the returned sample from Itokawa by the Hayabusa spacecraft, (2) imagery from the Hayabusa and NEAR spacecraft visiting Itokawa and Eros, respectively, (3) thermal infrared observations from asteroids, (4) the texture of meteorite regolith breccias, and (5) observations and modeling of the ejecta clouds from disrupted asteroids. Comparison of the Hayabusa returned sample with other data sets suggest the surficial material in the smooth regions of asteroids is dissimilar to the bulk regolith, probably due to removal of fines by photoionization and solar wind interaction or by preferential migration of mid-sized particles into the smooth terrain. We found deep challenges interpreting and applying the thermal infrared data so we were unable to use those observations in the model. Texture of regolith breccias do not agree with other data sets, suggesting the source regolith on Vesta was coarser than typical asteroid regolith. The observations of disrupted asteroids present a coherent picture of asteroid bulk regolith in collisional equilibrium, unlike lunar regolith, HED textures, and the Itokawa returned sample. The model we adopt consists of power laws for the bulk regolith in unspecified terrain (differential power index -3.5, representing equilibrium), and the surficial regolith in smooth terrain (differential power index -2.5, representing disequilibrium). Available data do not provide adequate constraints on maximum and minimum particle sizes for these power laws, so the model treats them as user-selectable parameters for the simulant., Comment: 15 pages, 4 figures

NASA has developed a "Figure of Merit" method to grade the fidelity of lunar simulants for scientific and engineering purposes. Here we extend the method to grade asteroid simulants, both regolith and cobble variety, and we apply the method to the newly developed asteroid regolith and cobble simulant UCF/DSI-CI-2. The reference material that is used to evaluate this simulant for most asteroid properties is the Orgueil meteorite. Those properties are the mineralogical and elemental composition, grain density, bulk density of cobbles, magnetic susceptibility, mechanical strength of cobbles, and volatile release patterns. To evaluate the regolith simulant's particle sizing we use a reference model that was based upon the sample returned from Itokawa by Hayabusa, the boulder count on Hayabusa, and four cases of disrupted asteroids that indicate particle sizing of the subsurface material. Compared to these references, the simulant has high figures of merit, indicating it is a good choice for a wide range of scientific and engineering applications. We recommend this methodology to the wider asteroid community and in the near future will apply it to additional asteroid simulants currently under development., Comment: 42 pages, 11 figures

When creating asteroid regolith simulant, it is necessary to have a model of asteroid regolith to guide and to evaluate the simulant. We created a model through evaluation and synthesis of the available data sets including (1) the returned sample from Itokawa by the Hayabusa spacecraft, (2) imagery from the Hayabusa and NEAR spacecraft visiting Itokawa and Eros, respectively, (3) thermal infrared observations from asteroids, (4) the texture of meteorite regolith breccias, and (5) observations and modeling of the ejecta clouds from disrupted asteroids. Comparison of the Hayabusa returned sample with other data sets suggest the surficial material in the smooth regions of asteroids is dissimilar to the bulk regolith, probably due to removal of fines by photoionization and solar wind interaction or by preferential migration of mid-sized particles into the smooth terrain. We found deep challenges interpreting and applying the thermal infrared data so we were unable to use those observations in the model. Texture of regolith breccias do not agree with other data sets, suggesting the source regolith on Vesta was coarser than typical asteroid regolith. The observations of disrupted asteroids present a coherent picture of asteroid bulk regolith in collisional equilibrium, unlike lunar regolith, HED textures, and the Itokawa returned sample. The model we adopt consists of power laws for the bulk regolith in unspecified terrain (differential power index -3.5, representing equilibrium), and the surficial regolith in smooth terrain (differential power index -2.5, representing disequilibrium). Available data do not provide adequate constraints on maximum and minimum particle sizes for these power laws, so the model treats them as user-selectable parameters for the simulant., Comment: 15 pages, 4 figures

It is often claimed that asteroids' sharing of orbits is the reason they were re-classified from planets to non-planets. A critical review of the literature from the 19th Century to the present shows this is factually incorrect. The literature shows the term asteroid was broadly recognized as a subset of planet for 150 years. On-going discovery of asteroids resulted in a de facto stretching of the concept of planet to include the ever-smaller bodies. Scientists found utility in this taxonomic identification as it provided categories needed to argue for the leading hypothesis of planet formation, Laplace's nebular hypothesis. In the 1950s, developments in planet formation theory found it no longer useful to maintain taxonomic identification between asteroids and planets, Ceres being the primary exception. At approximately the same time, there was a flood of publications on the geophysical nature of asteroids showing them to be geophysically different than the large planets. This is when the terminology in asteroid publications calling them planets abruptly plunged from a high level of usage where it had hovered during the period 1801 - 1957 to a low level that held constant thereafter. This marks the point where the community effectively formed consensus that asteroids should be taxonomically distinct from planets. The evidence demonstrates this consensus formed on the basis of geophysical differences between asteroids and planets, not the sharing of orbits. We suggest attempts to build consensus around planetary taxonomy not rely on the non-scientific process of voting, but rather through precedent set in scientific literature and discourse, by which perspectives evolve with additional observations and information, just as they did in the case of asteroids., Comment: 31 pages, 5 figures

Since the Apollo program or earlier it has been widely believed that the lunar regolith was compacted through vibrations including nearby impact events, thermal stress release in the regolith, deep moon quakes, and shallow moon quakes. Experiments have shown that vibrations both compact and re-loosen regolith as a function of depth in the lunar soil column and amplitude of the vibrational acceleration. Experiments have also identified another process that is extremely effective at compacting regolith: the expansion and contraction of individual regolith grains due to thermal cycling in the upper part of the regolith where the diurnal thermal wave exists. Remote sensing data sets from the Moon suggest that the soil is less compacted in regions where there is less thermal cycling, including infrared emissions measured by the Diviner radiometer on the Lunar Reconnaissance Orbiter (LRO). Here, we performed additional experiments in thermal cycling simulated lunar regolith and confirm that it is an effective compaction mechanism and may explain the remote sensing data. This creates a consistent picture that the soil really is looser in the upper layers in polar regions, which may be a challenge for rovers that must drive in the looser soil., Comment: 9 pages. Earth & Space 2018 Conference (ASCE)

It is often claimed that asteroids' sharing of orbits is the reason they were re-classified from planets to non-planets. A critical review of the literature from the 19th Century to the present shows this is factually incorrect. The literature shows the term asteroid was broadly recognized as a subset of planet for 150 years. On-going discovery of asteroids resulted in a de facto stretching of the concept of planet to include the ever-smaller bodies. Scientists found utility in this taxonomic identification as it provided categories needed to argue for the leading hypothesis of planet formation, Laplace's nebular hypothesis. In the 1950s, developments in planet formation theory found it no longer useful to maintain taxonomic identification between asteroids and planets, Ceres being the primary exception. At approximately the same time, there was a flood of publications on the geophysical nature of asteroids showing them to be geophysically different than the large planets. This is when the terminology in asteroid publications calling them planets abruptly plunged from a high level of usage where it had hovered during the period 1801 - 1957 to a low level that held constant thereafter. This marks the point where the community effectively formed consensus that asteroids should be taxonomically distinct from planets. The evidence demonstrates this consensus formed on the basis of geophysical differences between asteroids and planets, not the sharing of orbits. We suggest attempts to build consensus around planetary taxonomy not rely on the non-scientific process of voting, but rather through precedent set in scientific literature and discourse, by which perspectives evolve with additional observations and information, just as they did in the case of asteroids., Comment: 31 pages, 5 figures

Since the Apollo program or earlier it has been widely believed that the lunar regolith was compacted through vibrations including nearby impact events, thermal stress release in the regolith, deep moon quakes, and shallow moon quakes. Experiments have shown that vibrations both compact and re-loosen regolith as a function of depth in the lunar soil column and amplitude of the vibrational acceleration. Experiments have also identified another process that is extremely effective at compacting regolith: the expansion and contraction of individual regolith grains due to thermal cycling in the upper part of the regolith where the diurnal thermal wave exists. Remote sensing data sets from the Moon suggest that the soil is less compacted in regions where there is less thermal cycling, including infrared emissions measured by the Diviner radiometer on the Lunar Reconnaissance Orbiter (LRO). Here, we performed additional experiments in thermal cycling simulated lunar regolith and confirm that it is an effective compaction mechanism and may explain the remote sensing data. This creates a consistent picture that the soil really is looser in the upper layers in polar regions, which may be a challenge for rovers that must drive in the looser soil., Comment: 9 pages. Earth & Space 2018 Conference (ASCE)

The aim of the Asteroid Science Intersections with In-Space Mine Engineering (ASIME) 2016 conference on September 21-22, 2016 in Luxembourg City was to provide an environment for the detailed discussion of the specific properties of asteroids, with the engineering needs of space missions that utilize asteroids. The ASIME 2016 Conference produced a layered record of discussions from the asteroid scientists and the asteroid miners to understand each other's key concerns and to address key scientific questions from the asteroid mining companies: Planetary Resources, Deep Space Industries and TransAstra. These Questions were the focus of the two day conference, were addressed by scientists inside and outside of the ASIME Conference and are the focus of this White Paper. The Questions from the asteroid mining companies have been sorted into the three asteroid science themes: 1) survey, 2) surface and 3) subsurface and 4) Other. The answers to those Questions have been provided by the scientists with their conference presentations or edited directly into an early open-access collaborative Google document (August 2016-October 2016), or inserted by A. Graps using additional reference materials. During the ASIME 2016 last two-hours, the scientists turned the Questions from the Asteroid Miners around by presenting their own key concerns: Questions from the Asteroid Scientists . These answers in this White Paper will point to the Science Knowledge Gaps (SKGs) for advancing the asteroid in-space resource utilisation domain., Comment: 81 pages, 18 figures. White Paper from the Asteroid Science Intersections with In-Space Mine Engineering (ASIME) 2016 conference on September 21-22, 2016 in Luxembourg City

Advances in robotics and additive manufacturing have become game-changing for the prospects of space industry. It has become feasible to bootstrap a self-sustaining, self-expanding industry at reasonably low cost. Simple modeling was developed to identify the main parameters of successful bootstrapping. This indicates that bootstrapping can be achieved with as little as 12 metric tons (MT) landed on the Moon during a period of about 20 years. The equipment will be teleoperated and then transitioned to full autonomy so the industry can spread to the asteroid belt and beyond. The strategy begins with a sub-replicating system and evolves it toward full self-sustainability (full closure) via an in situ technology spiral. The industry grows exponentially due to the free real estate, energy, and material resources of space. The mass of industrial assets at the end of bootstrapping will be 156 MT with 60 humanoid robots, or as high as 40,000 MT with as many as 100,000 humanoid robots if faster manufacturing is supported by launching a total of 41 MT to the Moon. Within another few decades with no further investment, it can have millions of times the industrial capacity of the United States. Modeling over wide parameter ranges indicates this is reasonable, but further analysis is needed. This industry promises to revolutionize the human condition., Comment: 24 pages, 14 figures

The national space programs have an historic opportunity to help solve the global-scale economic and environmental problems of Earth while becoming more effective at science through the use of space resources. Space programs will be more cost-effective when they work to establish a supply chain in space, mining and manufacturing then replicating the assets of the supply chain so it grows to larger capacity. This has become achievable because of advances in robotics and artificial intelligence. It is roughly estimated that developing a lunar outpost that relies upon and also develops the supply chain will cost about 1/3 or less of the existing annual budgets of the national space programs. It will require a sustained commitment of several decades to complete, during which time science and exploration become increasingly effective. At the end, this space industry will capable of addressing global-scale challenges including limited resources, clean energy, economic development, and preservation of the environment. Other potential solutions, including nuclear fusion and terrestrial renewable energy sources, do not address the root problem of our limited globe and there are real questions whether they will be inadequate or too late. While industry in space likewise cannot provide perfect assurance, it is uniquely able to solve the root problem, and it gives us an important chance that we should grasp. What makes this such an historic opportunity is that the space-based solution is obtainable as a side-benefit of doing space science and exploration within their existing budgets. Thinking pragmatically, it may take some time for policymakers to agree that setting up a complete supply chain is an achievable goal, so this paper describes a strategy of incremental progress., Comment: 38 pages. Accepted for publication in Space Policy journal

Advances in robotics and additive manufacturing have become game-changing for the prospects of space industry. It has become feasible to bootstrap a self-sustaining, self-expanding industry at reasonably low cost. Simple modeling was developed to identify the main parameters of successful bootstrapping. This indicates that bootstrapping can be achieved with as little as 12 metric tons (MT) landed on the Moon during a period of about 20 years. The equipment will be teleoperated and then transitioned to full autonomy so the industry can spread to the asteroid belt and beyond. The strategy begins with a sub-replicating system and evolves it toward full self-sustainability (full closure) via an in situ technology spiral. The industry grows exponentially due to the free real estate, energy, and material resources of space. The mass of industrial assets at the end of bootstrapping will be 156 MT with 60 humanoid robots, or as high as 40,000 MT with as many as 100,000 humanoid robots if faster manufacturing is supported by launching a total of 41 MT to the Moon. Within another few decades with no further investment, it can have millions of times the industrial capacity of the United States. Modeling over wide parameter ranges indicates this is reasonable, but further analysis is needed. This industry promises to revolutionize the human condition., Comment: 24 pages, 14 figures

The aim of the Asteroid Science Intersections with In-Space Mine Engineering (ASIME) 2016 conference on September 21-22, 2016 in Luxembourg City was to provide an environment for the detailed discussion of the specific properties of asteroids, with the engineering needs of space missions that utilize asteroids. The ASIME 2016 Conference produced a layered record of discussions from the asteroid scientists and the asteroid miners to understand each other's key concerns and to address key scientific questions from the asteroid mining companies: Planetary Resources, Deep Space Industries and TransAstra. These Questions were the focus of the two day conference, were addressed by scientists inside and outside of the ASIME Conference and are the focus of this White Paper. The Questions from the asteroid mining companies have been sorted into the three asteroid science themes: 1) survey, 2) surface and 3) subsurface and 4) Other. The answers to those Questions have been provided by the scientists with their conference presentations or edited directly into an early open-access collaborative Google document (August 2016-October 2016), or inserted by A. Graps using additional reference materials. During the ASIME 2016 last two-hours, the scientists turned the Questions from the Asteroid Miners around by presenting their own key concerns: Questions from the Asteroid Scientists . These answers in this White Paper will point to the Science Knowledge Gaps (SKGs) for advancing the asteroid in-space resource utilisation domain., Comment: 81 pages, 18 figures. White Paper from the Asteroid Science Intersections with In-Space Mine Engineering (ASIME) 2016 conference on September 21-22, 2016 in Luxembourg City

The national space programs have an historic opportunity to help solve the global-scale economic and environmental problems of Earth while becoming more effective at science through the use of space resources. Space programs will be more cost-effective when they work to establish a supply chain in space, mining and manufacturing then replicating the assets of the supply chain so it grows to larger capacity. This has become achievable because of advances in robotics and artificial intelligence. It is roughly estimated that developing a lunar outpost that relies upon and also develops the supply chain will cost about 1/3 or less of the existing annual budgets of the national space programs. It will require a sustained commitment of several decades to complete, during which time science and exploration become increasingly effective. At the end, this space industry will capable of addressing global-scale challenges including limited resources, clean energy, economic development, and preservation of the environment. Other potential solutions, including nuclear fusion and terrestrial renewable energy sources, do not address the root problem of our limited globe and there are real questions whether they will be inadequate or too late. While industry in space likewise cannot provide perfect assurance, it is uniquely able to solve the root problem, and it gives us an important chance that we should grasp. What makes this such an historic opportunity is that the space-based solution is obtainable as a side-benefit of doing space science and exploration within their existing budgets. Thinking pragmatically, it may take some time for policymakers to agree that setting up a complete supply chain is an achievable goal, so this paper describes a strategy of incremental progress., Comment: 38 pages. Accepted for publication in Space Policy journal

A technique to estimate mass erosion rate of surface soil during landing of the Apollo Lunar Module (LM) and total mass ejected due to the rocket plume interaction is proposed and tested. The erosion rate is proportional to the product of the second moment of the lofted particle size distribution N(D), and third moment of the normalized soil size distribution S(D), divided by the integral of S(D)D^2/v(D), where D is particle diameter and v(D) is the vertical component of particle velocity. The second moment of N(D) is estimated by optical extinction analysis of the Apollo cockpit video. Because of the similarity between mass erosion rate of soil as measured by optical extinction and rainfall rate as measured by radar reflectivity, traditional NWS radar/rainfall correlation methodology can be applied to the lunar soil case where various S(D) models are assumed corresponding to specific lunar sites., Comment: Acta Geophysica 2015

A technique to estimate mass erosion rate of surface soil during landing of the Apollo Lunar Module (LM) and total mass ejected due to the rocket plume interaction is proposed and tested. The erosion rate is proportional to the product of the second moment of the lofted particle size distribution N(D), and third moment of the normalized soil size distribution S(D), divided by the integral of S(D)D^2/v(D), where D is particle diameter and v(D) is the vertical component of particle velocity. The second moment of N(D) is estimated by optical extinction analysis of the Apollo cockpit video. Because of the similarity between mass erosion rate of soil as measured by optical extinction and rainfall rate as measured by radar reflectivity, traditional NWS radar/rainfall correlation methodology can be applied to the lunar soil case where various S(D) models are assumed corresponding to specific lunar sites., Comment: Acta Geophysica 2015

The erosion of lunar soil by rocket exhaust plumes is investigated experimentally. This has identified the diffusion-driven flow in the bulk of the sand as an important but previously unrecognized mechanism for erosion dynamics. It has also shown that slow regime cratering is governed by the recirculation of sand in the widening geometry of the crater. Scaling relationships and erosion mechanisms have been characterized in detail for the slow regime. The diffusion-driven flow occurs in both slow and fast regime cratering. Because diffusion-driven flow had been omitted from the lunar erosion theory and from the pressure cratering theory of the Apollo and Viking era, those theories cannot be entirely correct., Comment: 13 pages, link to published version: http://cedb.asce.org/cgi/WWWdisplay.cgi?0900004

When a jet of gas impinges vertically on a granular bed and forms a crater, the grains may be moved by several different mechanisms: viscous erosion, diffused gas eruption, bearing capacity failure, and/or diffusion-driven shearing. The relative importance of these mechanisms depends upon the flow regime of the gas, the mechanical state of the granular material, and other physical parameters. Here we report research in two specific regimes: viscous erosion forming scour holes as a function of particle size and gravity; and bearing capacity failure forming deep transient craters as a function of soil compaction., Comment: 4 pages; Powders and Grains 2009, Golden, Colorado, USA

When a jet of gas impinges vertically on a granular bed and forms a crater, the grains may be moved by several different mechanisms: viscous erosion, diffused gas eruption, bearing capacity failure, and/or diffusion-driven shearing. The relative importance of these mechanisms depends upon the flow regime of the gas, the mechanical state of the granular material, and other physical parameters. Here we report research in two specific regimes: viscous erosion forming scour holes as a function of particle size and gravity; and bearing capacity failure forming deep transient craters as a function of soil compaction., Comment: 4 pages; Powders and Grains 2009, Golden, Colorado, USA

The erosion of lunar soil by rocket exhaust plumes is investigated experimentally. This has identified the diffusion-driven flow in the bulk of the sand as an important but previously unrecognized mechanism for erosion dynamics. It has also shown that slow regime cratering is governed by the recirculation of sand in the widening geometry of the crater. Scaling relationships and erosion mechanisms have been characterized in detail for the slow regime. The diffusion-driven flow occurs in both slow and fast regime cratering. Because diffusion-driven flow had been omitted from the lunar erosion theory and from the pressure cratering theory of the Apollo and Viking era, those theories cannot be entirely correct., Comment: 13 pages, link to published version: http://cedb.asce.org/cgi/WWWdisplay.cgi?0900004

Using Automated Additive Construction (AAC), low-fidelity large-scale compressive structures can be produced out of a wide variety of materials found in the environment. Compressionintensive structures need not utilize materials that have tight specifications for internal force management, meaning that the production of the building materials do not require costly methods for their preparation. Where a certain degree of surface roughness can be tolerated, lower-fidelity numerical control of deposited materials can provide a low-cost means for automating building processes, which can be utilized in remote or extreme environments on Earth or in Space. For space missions where every kilogram of mass must be lifted out of Earth’s gravity well, the promise of using in-situ materials for the construction of outposts, facilities, and installations could prove to be enabling if significant reduction of payload mass can be achieved. In a 2015 workshop sponsored by the Keck nstitute for Space Studies, on the topic of Three Dimensional (3D) Additive Construction For Space Using In-situ Resources, was conducted with additive construction experts from around the globe in attendance. The workshop explored disparate efforts, methods, and technologies and established a proposed framework for the field of Additive Construction Using In-situ Resources. This paper defines the field of Automated Additive Construction Using In-situ Resources, describes the state-of-the-art for various methods, establishes a vision for future efforts, identifies gaps in current technologies, explores investment opportunities, and proposes potential technology demonstration missions for terrestrial, International Space Station (ISS), lunar, deep space zero-gravity, and Mars environments.

Using Automated Additive Construction (AAC), low-fidelity large-scale compressive structures can be produced out of a wide variety of materials found in the environment. Compressionintensive structures need not utilize materials that have tight specifications for internal force management, meaning that the production of the building materials do not require costly methods for their preparation. Where a certain degree of surface roughness can be tolerated, lower-fidelity numerical control of deposited materials can provide a low-cost means for automating building processes, which can be utilized in remote or extreme environments on Earth or in Space. For space missions where every kilogram of mass must be lifted out of Earth’s gravity well, the promise of using in-situ materials for the construction of outposts, facilities, and installations could prove to be enabling if significant reduction of payload mass can be achieved. In a 2015 workshop sponsored by the Keck nstitute for Space Studies, on the topic of Three Dimensional (3D) Additive Construction For Space Using In-situ Resources, was conducted with additive construction experts from around the globe in attendance. The workshop explored disparate efforts, methods, and technologies and established a proposed framework for the field of Additive Construction Using In-situ Resources. This paper defines the field of Automated Additive Construction Using In-situ Resources, describes the state-of-the-art for various methods, establishes a vision for future efforts, identifies gaps in current technologies, explores investment opportunities, and proposes potential technology demonstration missions for terrestrial, International Space Station (ISS), lunar, deep space zero-gravity, and Mars environments.

This paper is a summary compilation of work accomplished over the past decade at NASA’s Kennedy Space Center to understand the interactions between rocket exhaust gases and the soil of the Moon or Mars. This research is applied to a case study of the Apollo 12 landing, in which the blowing soil peppered the nearby Surveyor III spacecraft producing measurable surface damage, and to the Apollo 15 landing, in which the Lunar Module tilted backwards after landing in a crater that was obscured from sight by the blowing dust. The modeling coupled with empirical observations is generally adequate to predict the order of magnitude of effects in future lunar missions and to formulate a rough concept for mitigating the spray around a lunar base. However, there are many significant gaps in our understanding of the physics and more effort is needed to understand the problem of blowing soil so that specific technologies can be developed to support the lunar outpost.