Mechanical Alteration And Contamination Issues In Automated Subsurface Sample Acquisition And Handling

Details Mechanical Alteration And Contamination Issues In Automated Subsurface Sample Acquisition And Handling Mechanical Alteration And Contamination Issues In Automated Subsurface Sample Acquisition And Handling

Dec 2006

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2006agufm.p51d1228g&link_type=abstract

American Geophysical Union, Fall Meeting 2006, abstract #P51D-1228

Computer Science

Robotics

5422 Ices, 5470 Surface Materials And Properties, 5494 Instruments And Techniques, 6297 Instruments And Techniques

Scientific paper

The Drilling Automation for Mars Exploration (DAME) project's purpose is to develop and field-test drilling automation and robotics technologies for projected use in missions in the 2011-15 period. DAME includes control of the drilling hardware, and state estimation of both the hardware and the lithography being drilled and the state of the hole. A sister drill was constructed for the Mars Analog Río Tinto Experiment (MARTE) project and demonstrated automated core handling and string changeout in 2005 drilling tests at Rio Tinto, Spain. DAME focused instead on the problem of drill control while actively drilling while not getting stuck. Together, the DAME and MARTE projects demonstrate a fully automated robotic drilling capability, including hands-off drilling, adjustment to different strata and downhole conditions, recovery from drilling faults (binding, choking, etc.), drill string changeouts, core acquisition and removal, and sample handling and conveyance to in-situ instruments. The 2006 top-level goal of DAME drilling in-situ tests was to verify and demonstrate a capability for hands-off automated drilling, at an Arctic Mars-analog site. There were three sets of 2006 test goals, all of which were exceeded during the July 2006 field season. The first was to demonstrate the recognition, while drilling, of at least three of the six known major fault modes for the DAME planetary-prototype drill, and to employ the correct recovery or safing procedure in response. The second set of 2006 goals was to operate for three or more hours autonomously, hands-off. And the third 2006 goal was to exceed 3m depth into the frozen breccia and permafrost with the DAME drill (it had not gone further than 2.2m previously). Five of six faults were detected and corrected, there were 43 hours of hands-off drilling (including a 4 hour sequence with no human presence nearby), and 3.2m was the total depth. And ground truth drilling used small commercial drilling equipment in parallel in order to obtain cores and ice profiles at the drilling site. In the course of DAME drilling automation testing, the drilling-induced temperature gradients and their effects on encountered subsurface permafrost and ice layers were observed while drilling in frozen impact breccia at Haughton Crater. In repeated tests of robotic core removal processing and handling in the MARTE project, including field tests, cross-contamination issues arose between successive cores and samples, and procedures and metrics were developed for minimizing the cross-contamination. The MARTE core processing cross-contamination aspects were tested by analyzing a set of pristine samples (those stratigraphically known) vs. cuttings (loose clays) or artifacts from the robotic drilling (indurated clay layers). MARTE ground truth drilling, in parallel with the automated tests, provided control information on the discontinuity/continuity of the stratigraphic record (i.e., texture, color and structure of loose and consolidated materials).

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