NASA X-Hab 2025: Modular Robotic Construction - Revision history

Acmattson3 at 22:13, 7 July 2025

2025-07-07T22:13:34Z

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	<h2>Software and Simulation</h2>		<h2>Software and Simulation</h2>
			[[File:X-Hab LUNATIC Software Stack.png\|alt=The modified LUNATIC software stack for the X-Hab 2025 project; adds support for the truss manipulator arm.\|thumb\|The modified LUNATIC software stack for the X-Hab 2025 project; adds support for the truss manipulator arm.]]
	<p>The team developed and tested robotic workflows using the following tools:</p>		<p>The team developed and tested robotic workflows using the following tools:</p>
	<ul>		<ul>

Acmattson3 at 21:37, 4 July 2025

2025-07-04T21:37:40Z

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	<li><strong>[[LUMINSim\|Godot-based simulator:]]</strong> Visualized structure assembly and layout.</li>		<li><strong>[[LUMINSim\|Godot-based simulator:]]</strong> Visualized structure assembly and layout.</li>
	<li><strong>[https://github.com/auroraRoboticsLab/MiningRobot?tab=readme-ov-file#lunatic Custom autonomy stack (LUNATIC):]</strong> Handles teleoperation, control, and vision.</li>		<li><strong>[https://github.com/auroraRoboticsLab/MiningRobot?tab=readme-ov-file#lunatic Custom autonomy stack (LUNATIC):]</strong> Handles teleoperation, control, and vision.</li>
	<li><strong>ROS2 / MoveIt:</strong> Inverse kinematics modeled, full integration for automation incomplete.</li>		<li><strong>[https://docs.ros.org/en/humble/index.html ROS2] / [https://moveit.picknik.ai/main/index.html MoveIt]:</strong> Inverse kinematics modeled, full integration for automation incomplete.</li>
	</ul>		</ul>

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	<h2>Outreach Activities</h2>		<h2>Outreach Activities</h2>
	<ul>		<ul>
	<li><strong>Party in the Park:</strong> Public engagement event with live robot demos.</li>		<li><strong>UAF Party in the Park:</strong> Public engagement event with live robot demos.</li>
	<li><strong>FTC Robotics Tours:</strong> Guided tour for K–12 robotics students.</li>		<li><strong>FTC Robotics Tours:</strong> Guided tour for K–12 robotics students.</li>
	<li><strong>UAF Engineering Open House:</strong> Structural demo and recruiting opportunity.</li>		<li><strong>UAF Engineering Open House:</strong> Structural demo and recruiting opportunity.</li>
	</ul>		</ul>

	<h2>Lessons Learned</h2>We were not able to complete our promised deliverables to full satisfaction due to time constraints and lack of defined leadership structure. We learned ~~that~~:<ul>		<h2>Lessons Learned</h2>We were not able to complete our promised deliverables to full satisfaction due to time constraints and lack of defined leadership structure. We learned important lessons about:<ul>
	<li><strong>Structure:</strong> Even small teams benefit from defined leadership and task ownership.</li>		<li><strong>Structure:</strong> Even small teams benefit from defined leadership and task ownership.</li>
	<li><strong>Planning:</strong> Conservative scoping ensures project deliverables can be met.</li>		<li><strong>Planning:</strong> Conservative scoping ensures project deliverables can be met.</li>
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	<h2>Additional Information</h2>		<h2>Additional Information</h2>

	* Project Lead: Andrew Mattson, UAF CS BS/MS student		* Project Lead: [[User:Acmattson3\|Andrew Mattson]], UAF CS BS/MS student
	* Faculty Advisor: Dr. Orion Lawlor (oslawlor@alaska.edu)		* Faculty Advisor: [[User:Lawlor\|Dr. Orion Lawlor]] (oslawlor@alaska.edu)
	* Team Members:		* Team Members:
	** ~~Elliot~~ Madsen (ME BS)		** [[User:Frozenstiff\|Elliott Madsen]] (ME BS)
	** Delano Horner (ME BS)		** Delano Horner (ME BS)
	** Daniel Schliesing (ME BS)		** Daniel Schliesing (ME BS)
	** Kory Lamme (ME BS)		** Kory Lamme (ME BS)

Acmattson3 at 21:51, 27 June 2025

2025-06-27T21:51:33Z

← Older revision		Revision as of 13:51, 27 June 2025
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	<p>The project culminated in the development of the [[Excahauler\|Excahauler robotic platform]] with a custom-built arm and end-effector, capable of aligning and assembling scaled modular truss components. Despite limitations in time and resources, the team demonstrated capabilities including truss manipulation, partial structural testing, and scale backfilling with regolith simulant (snow).</p>		<p>The project culminated in the development of the [[Excahauler\|Excahauler robotic platform]] with a custom-built arm and end-effector, capable of aligning and assembling scaled modular truss components. Despite limitations in time and resources, the team demonstrated capabilities including truss manipulation, partial structural testing, and scale backfilling with regolith simulant (snow).</p>

			<p>This wiki page is a very abridged version of our [https://docs.google.com/document/d/1N_494oalexJXKeGfjDocUZKAdBZPZ5RYqvyGjyIhMkg/edit?tab=t.0 full final report] which should soon be added to [https://ntrs.nasa.gov/ NASA's NTRS database].</p>

	<h2>Project Vision and Mission</h2>		<h2>Project Vision and Mission</h2>
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	<h2>The L-Truss System</h2>		<h2>The L-Truss System</h2>
	<p>The primary structural innovation was the development of the <strong>L-Truss</strong>: A modular trapezoidal truss segment. These trusses connect via push-fit endplates and spring-loaded capture pins to form straight or curved assemblies, including arches and retaining walls. The final design included:</p>		[[File:L-Truss.jpg\|alt=The final full-steel L-Truss design.\|thumb\|The final full-steel L-Truss design.]]
			<p>The primary structural innovation was the development of the <strong>L-Truss</strong>: A modular trapezoidal truss segment. These trusses connect via push-fit endplates and spring-loaded capture pins to form straight or curved assemblies, including arches and retaining walls. The final full-steel design used plasma-cut end plates with a 3D printed door latch-style connection. However, full robotic connection could not be demonstrated with this design, so we made some last minute changes. The final prototype design included:</p>
	<ul>		<ul>
	<li>Hybrid steel construction with 3D printed carbon-fiber polycarbonate alignment funnels.</li>		<li>Hybrid steel construction with 3D printed carbon-fiber polycarbonate alignment funnels.</li>
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	<p>A scale 3D printable version is publicly available: [https://www.printables.com/model/1305834-trapezoidal-l-truss-clip-together-construction-mod L-Truss Model]</p>		<p>A scale 3D printable version is publicly available: [https://www.printables.com/model/1305834-trapezoidal-l-truss-clip-together-construction-mod L-Truss Model]</p>

	<h2>Requirements</h2>		<h2>Structure Requirements</h2>
	<ul>		<ul>
	<li>Accommodate 2.6m x 2.6m vehicles within the constructed arch structure. (I.0)</li>		<li>Accommodate 2.6m x 2.6m vehicles within the constructed arch structure. (I.0)</li>
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	<h2>Concept of Operations</h2>		<h2>Concept of Operations</h2>
			[[File:Arch Assembly Graphic.png\|alt=A graphical representation of the truss section assembly process. \|thumb\|A graphical representation of the truss section assembly process. This is to be done in parallel with other truss sections (i.e., ones behind the one visible) to create a full truss structure.]]
	<h3>Lunar Deployment Plan</h3>		<h3>Lunar Deployment Plan</h3>
	<ol>		<ol>
	<li><strong>Site Preparation:</strong> The Excahauler prepares a foundation using excavation tools.</li>		<li><strong>Site Preparation:</strong> The Excahauler prepares a foundation using excavation tools.</li>
	<li><strong>Truss Deployment:</strong> Trusses are unloaded from a logistics lander and staged for assembly.</li>		<li><strong>Truss Deployment:</strong> Trusses are unloaded from a logistics lander and staged for assembly.</li>
	<li><strong>Structural Assembly:</strong> Robots ~~align and push-connect trusses into arches or walls~~.</li>		<li><strong>Structural Assembly:</strong> Robots assemble the arch structure according to the graphic on the right.</li>
	<li><strong>Backfilling:</strong> ~~Simulated~~ regolith ~~(e.g. snow or basalt dust)~~ is ~~applied~~ over the structure.</li>		<li><strong>Backfilling:</strong> Lunar regolith is put over the structure via ballistic throwing or traditional scooping.</li>
	<li><strong>Use Phase:</strong> Covered arches serve as shielding for sensitive lunar equipment or crew.</li>		<li><strong>Use Phase:</strong> Covered arches serve as shielding for sensitive lunar equipment or crew.</li>
	</ol>		</ol>
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	<li>1:10 scale arch model tested with regolith simulant (basalt dust).</li>		<li>1:10 scale arch model tested with regolith simulant (basalt dust).</li>
	<li>Full-scale hybrid trusses fabricated and manipulated via teleoperation.</li>		<li>Full-scale hybrid trusses fabricated and manipulated via teleoperation.</li>
	<li>Robotic assembly verified using Excahauler and custom-built 2500:1 reducer gearbox arm.</li>		<li>Robotic assembly verified using [[Excahauler]] and custom-built 2500:1 reducer gearbox arm.</li>
	</ul>		</ul>

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	<li><strong>Critical Design Review (CDR):</strong> January 24, 2025</li>		<li><strong>Critical Design Review (CDR):</strong> January 24, 2025</li>
	<li><strong>Progress Checkpoint Review (PCR):</strong> April 18, 2025</li>		<li><strong>Progress Checkpoint Review (PCR):</strong> April 18, 2025</li>
	<li><strong>Final ~~Demonstration &~~ Report:</strong> May 30, 2025</li>		<li><strong>Final Report:</strong> May 23, 2025</li>
	</ol>		</ol>

	<h2>Robot System: Excahauler</h2>		<h2>Robot System: [[Excahauler]]</h2>
	<ul>		<ul>
	<li>Originally designed for the 2022 NASA Break the Ice Challenge.</li>		<li>Originally designed for the [[Project Archives\|2022 NASA Break the Ice Challenge]].</li>
	<li>Outfitted with a custom modular manipulator arm with 3D printed stepped planetary gearboxes.</li>		<li>Outfitted with a custom modular manipulator arm with 3D printed stepped planetary gearboxes.</li>
	<li>Used in successful teleoperated tests to transport and align L-Truss segments.</li>		<li>Used in successful teleoperated tests to transport and align L-Truss segments.</li>
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	<p>The team developed and tested robotic workflows using the following tools:</p>		<p>The team developed and tested robotic workflows using the following tools:</p>
	<ul>		<ul>
	<li><strong>Godot-based simulator:</strong> Visualized structure assembly and layout.</li>		<li><strong>[[LUMINSim\|Godot-based simulator:]]</strong> Visualized structure assembly and layout.</li>
	<li><strong>Custom autonomy stack (LUNATIC):</strong> Handles teleoperation, control, and vision.</li>		<li><strong>[https://github.com/auroraRoboticsLab/MiningRobot?tab=readme-ov-file#lunatic Custom autonomy stack (LUNATIC):]</strong> Handles teleoperation, control, and vision.</li>
	<li><strong>ROS2 / MoveIt:</strong> Inverse kinematics modeled, ~~pending~~ full integration for automation.</li>		<li><strong>ROS2 / MoveIt:</strong> Inverse kinematics modeled, full integration for automation incomplete.</li>
	</ul>		</ul>

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	</ul>		</ul>

	<h2>Lessons Learned</h2>		<h2>Lessons Learned</h2>We were not able to complete our promised deliverables to full satisfaction due to time constraints and lack of defined leadership structure. We learned that:<ul>
	<ul>
	<li><strong>Structure:</strong> Even small teams benefit from defined leadership and task ownership.</li>		<li><strong>Structure:</strong> Even small teams benefit from defined leadership and task ownership.</li>
	<li><strong>Planning:</strong> Conservative scoping ensures project deliverables can be met.</li>		<li><strong>Planning:</strong> Conservative scoping ensures project deliverables can be met.</li>
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	<h2>Additional Information</h2>		<h2>Additional Information</h2>
	~~<p>~~Project Lead: Andrew Mattson, UAF CS BS/MS student
	Faculty Advisor: Dr. Orion Lawlor (oslawlor@alaska.edu)~~</p>~~		* Project Lead: Andrew Mattson, UAF CS BS/MS student
	~~<p>More at~~: ~~[http://auroraroboticslab.com auroraroboticslab.com]</p>~~		* Faculty Advisor: Dr. Orion Lawlor (oslawlor@alaska.edu)
			* Team Members:
			** Elliot Madsen (ME BS)
			** Delano Horner (ME BS)
			** Daniel Schliesing (ME BS)
			** Kory Lamme (ME BS)

Acmattson3 at 21:25, 27 June 2025

2025-06-27T21:25:15Z

← Older revision		Revision as of 13:25, 27 June 2025
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	[[File:Nasa xhab.jpg\|thumb\|NASA X-Hab Logo]]		[[File:Nasa xhab.jpg\|thumb\|NASA X-Hab Logo]]

	<p>NASA's M2M X-Hab Academic Innovation Challenge for 2025 ~~is a project led by~~ the Aurora Robotics Lab at the University of Alaska Fairbanks, funded through NASA’s 2024–2025 Moon to Mars X-Hab Academic Innovation Challenge. ~~The~~ goal was to explore modular robotic construction techniques for lunar infrastructure, especially focusing on micrometeoroid-resistant arch structures ~~assembled robotically~~ from modular steel trusses.</p>		<p>In 2024, [https://spacegrant.org/wp-content/uploads/2024/03/M2M-X-Hab-Challenge-Solicitation-2025.pdf NASA's M2M X-Hab Academic Innovation Challenge for 2025] was released, for which [[Main Page\|the Aurora Robotics Lab]] at the University of Alaska Fairbanks was accepted and funded through NASA’s 2024–2025 Moon to Mars X-Hab Academic Innovation Challenge. Our goal was to explore modular robotic construction techniques for lunar infrastructure, especially focusing on micrometeoroid-resistant arch structures made from modular steel trusses and covered in lunar regolith, with a clear path to fully autonomous robotic construction.</p>

	<p>The project culminated in the development of the Excahauler robotic platform with a custom-built arm and end-effector, capable of aligning and assembling scaled modular truss components. Despite limitations in time and resources, the team demonstrated ~~key~~ capabilities including truss manipulation, structural testing, and backfilling with regolith simulant.</p>		<p>The project culminated in the development of the [[Excahauler\|Excahauler robotic platform]] with a custom-built arm and end-effector, capable of aligning and assembling scaled modular truss components. Despite limitations in time and resources, the team demonstrated capabilities including truss manipulation, partial structural testing, and scale backfilling with regolith simulant (snow).</p>

	<h2>Project Vision and Mission</h2>		<h2>Project Vision and Mission</h2>
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	</ul>		</ul>

	<h2>~~Key Structure:~~ The L-Truss System</h2>		<h2>The L-Truss System</h2>
	<p>The primary structural innovation was the development of the <strong>L-Truss</strong> ~~— a~~ modular trapezoidal truss segment. These trusses connect via push-fit endplates and spring-loaded capture pins to form straight or curved assemblies, including arches and retaining walls. The final design included:</p>		<p>The primary structural innovation was the development of the <strong>L-Truss</strong>: A modular trapezoidal truss segment. These trusses connect via push-fit endplates and spring-loaded capture pins to form straight or curved assemblies, including arches and retaining walls. The final design included:</p>
	<ul>		<ul>
	<li>Hybrid steel construction with 3D printed carbon-fiber polycarbonate alignment funnels.</li>		<li>Hybrid steel construction with 3D printed carbon-fiber polycarbonate alignment funnels.</li>

Acmattson3 at 21:08, 27 June 2025

2025-06-27T21:08:56Z

Show changes

Acmattson3: Acmattson3 moved page X-Hab 2025 NASA Proposal to NASA X-Hab 2025: Modular Robotic Construction: Switching from talking only about the proposal to the entire project.

2025-06-27T21:05:30Z

Acmattson3 moved page X-Hab 2025 NASA Proposal to NASA X-Hab 2025: Modular Robotic Construction: Switching from talking only about the proposal to the entire project.

← Older revision		Revision as of 13:05, 27 June 2025
(No difference)

Acmattson3 at 20:59, 27 June 2025

2025-06-27T20:59:31Z

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	[[File:Nasa xhab.jpg\|thumb\|NASA X-Hab Logo]]		[[File:Nasa xhab.jpg\|thumb\|NASA X-Hab Logo]]

	~~<p>~~In early 2024, NASA released a request for proposals addressing the construction of a permanent lunar base. [https://lawlor.cs.uaf.edu/~olawlor/ Dr. Orion Lawlor] led the Aurora Robotics Team's proposal in response to Appendix B of the [https://spacegrant.org/wp-content/uploads/2024/03/M2M-X-Hab-Challenge-Solicitation-2025.pdf NASA RFP document], sponsored by NASA's Autonomous Robotic Construction Projects - TLT, PASS, ARMADAS. The proposal outlines the development of modular robotic tools for assembling regolith-covered hangar-like lunar habitats using pre-fabricated truss components.~~</p>~~		In early 2024, NASA released a request for proposals addressing the construction of a permanent lunar base for the [https://www.nasa.gov/feature/artemis/ Artemis Mission]. [https://lawlor.cs.uaf.edu/~olawlor/ Dr. Orion Lawlor] led the creation of [https://docs.google.com/document/d/1W0xE08S_TUeKvRA961OPsiA_W6c5l_jKJNtGaGTW9B4/edit?usp=sharing the Aurora Robotics Team's proposal] in response to Appendix B of the [https://spacegrant.org/wp-content/uploads/2024/03/M2M-X-Hab-Challenge-Solicitation-2025.pdf NASA RFP document], sponsored by NASA Autonomous Robotic Construction Projects, including [https://ntrs.nasa.gov/citations/20220016161 Tall Lunar Tower (TLT)], [https://techport.nasa.gov/projects/116258 Precision Assembled Space Structures (PASS)], and [https://www.nasa.gov/centers-and-facilities/langley/automated-reconfigurable-mission-adaptive-digital-assembly-systems-armadas/ Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS)]. The proposal outlines the development of modular robotic tools for assembling regolith-covered hangar-like lunar habitats using pre-fabricated truss components. Throughout the course of the project, what the team delivered differed greatly from the original proposal.

	<h2>Project Vision and Mission</h2>		<h2>Project Vision and Mission</h2>

Acmattson3 at 20:53, 27 June 2025

2025-06-27T20:53:07Z

← Older revision		Revision as of 12:53, 27 June 2025
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	[[File:Nasa xhab.jpg\|thumb\|NASA X-Hab Logo]]		[[File:Nasa xhab.jpg\|thumb\|NASA X-Hab Logo]]

	<p>In early 2024, NASA released a request for proposals addressing the construction of a permanent lunar base. [https://lawlor.cs.uaf.edu/~olawlor/ Dr. Orion Lawlor] led the Aurora Robotics Team's proposal in response to Appendix B of the [https://spacegrant.org/wp-content/uploads/2024/03/M2M-X-Hab-Challenge-Solicitation-2025.pdf NASA RFP document], sponsored by NASA's Autonomous Robotic Construction Projects - TLT, PASS, ARMADAS. The proposal outlines the development of a modular ~~robot capable of autonomous construction on the~~ lunar ~~surface~~.</p>		<p>In early 2024, NASA released a request for proposals addressing the construction of a permanent lunar base. [https://lawlor.cs.uaf.edu/~olawlor/ Dr. Orion Lawlor] led the Aurora Robotics Team's proposal in response to Appendix B of the [https://spacegrant.org/wp-content/uploads/2024/03/M2M-X-Hab-Challenge-Solicitation-2025.pdf NASA RFP document], sponsored by NASA's Autonomous Robotic Construction Projects - TLT, PASS, ARMADAS. The proposal outlines the development of modular robotic tools for assembling regolith-covered hangar-like lunar habitats using pre-fabricated truss components.</p>

	<h2>Project Vision and Mission</h2>		<h2>Project Vision and Mission</h2>
	<ul>		<ul>
	<li><strong>Long-Term Vision:</strong> Transform the solar system using robotic construction with local materials.</li>		<li><strong>Long-Term Vision:</strong> Transform the solar system using robotic construction with local materials.</li>
	<li><strong>Short-Term Vision:</strong> Robotic construction of Artemis Base Camp.</li>		<li><strong>Short-Term Vision:</strong> Robotic construction of Artemis Base Camp infrastructure.</li>
	<li><strong>Mission:</strong> Design and demonstrate robots capable of ~~autonomously constructing Artemis Base Camp~~ structures using ~~locally sourced Lunar regolith, focusing first on an arch-based~~, regolith~~-covered vehicle bay~~.</li>		<li><strong>Mission:</strong> Design and demonstrate robots capable of assembling large-scale lunar structures using modular steel trusses, simulating regolith backfilling with snow to represent radiation shielding.</li>
	</ul>		</ul>

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	<h2>Concept of Operations</h2>		<h2>Concept of Operations</h2>
	<p>The ~~design features~~ a ~~Lunar Autonomous Modular Platform (LAMP) robot performing the following tasks~~:</p>		<p>The project centers on the Excahauler robot, a tracked platform that supports remote and semi-autonomous tool operation. It performs:</p>
	<ul>		<ul>
	<li>~~Excavation and site preparation~~ using a ~~bucket and grinder~~.</li>		<li>Transport of modular truss components using a forklift-like attachment.</li>
	<li>~~Logistics support~~ via ~~part removal~~ and ~~transport using a forklift attachment~~.</li>		<li>Teleoperated and semi-autonomous connection of truss elements via 3D-printed prototypes and full-scale demonstration hardware.</li>
	<li>~~Assembly~~ and ~~alignment of structural components using~~ pin-~~based connectors~~ and ~~manipulators~~.</li>		<li>Demonstration of alignment and pin-connection mechanisms using camera feedback and manipulator tools.</li>
	<li>Backfilling with regolith ~~simulant using robotic tools like snowblowers~~.</li>		<li>Backfilling simulation with snow representing lunar regolith.</li>
	</ul>		</ul>

	<h2>Key Project Goals</h2>		<h2>Key Project Goals</h2>
	<ul>		<ul>
	<li><strong>Radiation Protection:</strong> ~~Shield against harmful cosmic rays for long-duration crew stays~~.</li>		<li><strong>Radiation Protection:</strong> Simulate protection using snow as a regolith analog.</li>
	<li><strong>Thermal Insulation:</strong> ~~Mitigate~~ temperature swings ~~during lunar day and night~~.</li>		<li><strong>Thermal Insulation:</strong> Demonstrate covered structures that insulate against lunar temperature swings.</li>
	<li><strong>MMOD Protection:</strong> ~~Protect from~~ micrometeoroids ~~and orbital debris~~.</li>		<li><strong>MMOD Protection:</strong> Cover completed structure to simulate defense against micrometeoroids.</li>
	<li><strong>Scalability:</strong> ~~Demonstrate large-scale~~, ~~robot-built infrastructure on the Moon~~.</li>		<li><strong>Scalability:</strong> Test modular, repeatable construction approaches suitable for larger lunar operations.</li>
	</ul>		</ul>

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	<li><strong>Critical Design Review (CDR):</strong> January 17, 2025</li>		<li><strong>Critical Design Review (CDR):</strong> January 17, 2025</li>
	<li><strong>Progress Checkpoint:</strong> March 7, 2025</li>		<li><strong>Progress Checkpoint:</strong> March 7, 2025</li>
	<li><strong>Final Demonstration:</strong> May 2025</li>		<li><strong>Final Demonstration and Report:</strong> May 30, 2025</li>
	</ol>		</ol>

	<h2>Baseline Design Solution</h2>		<h2>Baseline Design Solution</h2>
	<ul>		<ul>
	<li><strong>Structure:</strong> ~~Flat~~ truss segments ~~for modular assembly~~.</li>		<li><strong>Structure:</strong> Modular trapezoidal truss segments connected via pin-based mechanisms, enabling 0° or 22.5° angles.</li>
	<li><strong>Materials:</strong> ~~Durable, lightweight components pre~~-~~covered with mixed wire and cloth~~ for ~~ease of regolith application~~.</li>		<li><strong>Materials:</strong> Full-scale steel for load-bearing demonstrations; 3D-printed ABS for scaled testing.</li>
	<li><strong>Robot:</strong> ~~Modular LAMP~~ robot for ~~excavation~~, ~~assembly~~, and ~~backfilling~~.</li>		<li><strong>Robot:</strong> Excahauler robot platform for transport, manipulation, and teleoperated assembly.</li>
	<li><strong>Performance:</strong> ~~High~~ load-bearing ~~capacity with a~~ safety factor ~~of at least~~ 2.</li>		<li><strong>Performance:</strong> FEM simulations confirm load-bearing capabilities and safety factor >2.</li>
	</ul>		</ul>

	<h2>Verification and Testing</h2>		<h2>Verification and Testing</h2>
	<ul>		<ul>
	<li>Destructive and nondestructive ~~compressive load tests~~.</li>		<li>Destructive and nondestructive testing of 3D-printed and steel components.</li>
	<li>Full-scale assembly and snow ~~load testing~~ in ~~a controlled environment~~.</li>		<li>Full-scale assembly and backfill simulation using snow in Fairbanks winter conditions.</li>
	<li>~~Robot~~ alignment and assembly ~~demonstration in a lab setting~~.</li>		<li>Teleoperation tests for precision alignment and assembly with tracked mobility.</li>
	</ul>		</ul>

	<h2>Educational Integration</h2>		<h2>Educational Integration</h2>
	<p>The project integrates into UAF's ~~curriculum~~, ~~offering hands-on systems~~ design and ~~testing opportunities for engineering students~~.</p>		<p>The project integrates into UAF's systems engineering courses, involving both undergraduate and graduate students in design, simulation, fabrication, testing, and outreach activities.</p>

	<h2>Additional Information</h2>		<h2>Additional Information</h2>
	<p>For more details, please contact Dr. Orion Lawlor at oslawlor@alaska.edu or visit the [https://spacegrant.org/xhab/ NASA X-Hab Challenge website].</p>		<p>For more details, please contact Dr. Orion Lawlor at oslawlor@alaska.edu or visit the [https://spacegrant.org/xhab/ NASA X-Hab Challenge website].</p>

Acmattson3 at 22:46, 21 December 2024

2024-12-21T22:46:05Z

← Older revision		Revision as of 14:46, 21 December 2024
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	<ul>		<ul>
	<li><strong>Long-Term Vision:</strong> Transform the solar system using robotic construction with local materials.</li>		<li><strong>Long-Term Vision:</strong> Transform the solar system using robotic construction with local materials.</li>
	<li>~~'''~~Short-Term Vision:~~'''~~ Robotic construction of Artemis Base Camp.</li>		<li><strong>Short-Term Vision:</strong> Robotic construction of Artemis Base Camp.</li>
	<li><strong>Mission:</strong> Design and demonstrate robots capable of autonomously constructing Artemis Base Camp structures using locally sourced Lunar regolith, focusing first on an arch-based, regolith-covered vehicle bay.</li>		<li><strong>Mission:</strong> Design and demonstrate robots capable of autonomously constructing Artemis Base Camp structures using locally sourced Lunar regolith, focusing first on an arch-based, regolith-covered vehicle bay.</li>
	</ul>		</ul>

	<h2>~~Concept of Operations~~</h2>		<h2>Requirements</h2>
	<p>A single robot design uses multiple tools to excavate regolith, compact foundations, and place construction modules. This project will prototype the robot's design and operations using simulations and physical demonstrations.</p>

	~~<h2>Approach</h2>~~
	~~<p>The project employs a multi-phase approach, including:</p~~>
	<ul>		<ul>
	<li>~~<strong>System-level Simulation:</strong> Using game engines like Godot~~ to ~~simulate regolith terrain and predict mechanical loads~~.</li>		<li>The structure must allow a 2.6m x 2.6m vehicle to fit inside. (I.0)</li>
	<li><~~strong~~>~~Component Testing:~~<~~/strong~~> ~~Vacuum chamber~~ and ~~outdoor Alaska tests to validate component performance~~.</li>		<li>Structural elements must not exceed 2.0 meters for ease of transport. (I.1.1)</li>
	<li><~~strong~~>~~Earth Analog Testing:~~<~~/strong~~> ~~Full-scale robot demonstrations in physical environments~~.</li>		<li>The structure must support a regolith simulant (snow) coating of at least 0.2m thickness to simulate radiation and thermal protection. (O.0)</li>
			<li>The structure must tolerate a compressive load of 300 kgf and demonstrate a safety factor of at least 2. (I.1.2, I.2.1)</li>
			<li>Assembly must be robotically achievable, with all tools having a path to robotic automation. (E.0, E.2)</li>
	</ul>		</ul>

	<h2>~~Key Questions~~</h2>		<h2>Concept of Operations</h2>
			<p>The design features a Lunar Autonomous Modular Platform (LAMP) robot performing the following tasks:</p>
	<ul>		<ul>
	<li>~~What body plans allow~~ a ~~robot to perform both horizontal~~ and ~~vertical construction?~~</li>		<li>Excavation and site preparation using a bucket and grinder.</li>
	<li>~~What module shapes are best for~~ robotic ~~assembly using local materials?~~</li>		<li>Logistics support via part removal and transport using a forklift attachment.</li>
			<li>Assembly and alignment of structural components using pin-based connectors and manipulators.</li>
			<li>Backfilling with regolith simulant using robotic tools like snowblowers.</li>
	</ul>		</ul>

	<h2>~~Alignment with NASA Objectives~~</h2>		<h2>Key Project Goals</h2>
	~~<p>The proposal aligns with NASA's Moon-to-Mars Architecture by:</p~~>
	<ul>		<ul>
	<li>~~Demonstrating autonomous construction capabilities~~.</li>		<li><strong>Radiation Protection:</strong> Shield against harmful cosmic rays for long-duration crew stays.</li>
	<li>~~Scaling ISRU (In-Situ Resource Utilization) for~~ lunar ~~operations~~.</li>		<li><strong>Thermal Insulation:</strong> Mitigate temperature swings during lunar day and night.</li>
	<li>~~Supporting a mix of autonomous~~ and ~~teleoperated robotic operations~~.</li>		<li><strong>MMOD Protection:</strong> Protect from micrometeoroids and orbital debris.</li>
			<li><strong>Scalability:</strong> Demonstrate large-scale, robot-built infrastructure on the Moon.</li>
	</ul>		</ul>

	<h2>Project Phases</h2>		<h2>Project Phases</h2>
	<ol>		<ol>
	<li><strong>Design:</strong> ~~Requirements and system design during Fall~~ 2024.</li>		<li><strong>Preliminary Design Review (PDR):</strong> November 15, 2024 ([https://spacegrant.org/xhab/ M2M X-Hab Schedule])</li>
	<li><strong>~~Prototype~~:</strong> ~~Build and component testing in Spring~~ 2025.</li>		<li><strong>Critical Design Review (CDR):</strong> January 17, 2025</li>
	<li><strong>~~Integration~~:</strong> ~~System-level breadboard tests to achieve a Technology Readiness Level of 4-5.~~</li>		<li><strong>Progress Checkpoint:</strong> March 7, 2025</li>
			<li><strong>Final Demonstration:</strong> May 2025</li>
	</ol>		</ol>

	<h2>~~Budget~~</h2>		<h2>Baseline Design Solution</h2>
	<p>~~Total funding requested~~: ~~$14~~,~~580~~.</p>		<ul>
	<p>~~Funding covers undergraduate student labor~~ and ~~project development costs~~.</p>		<li><strong>Structure:</strong> Flat truss segments for modular assembly.</li>
			<li><strong>Materials:</strong> Durable, lightweight components pre-covered with mixed wire and cloth for ease of regolith application.</li>
			<li><strong>Robot:</strong> Modular LAMP robot for excavation, assembly, and backfilling.</li>
			<li><strong>Performance:</strong> High load-bearing capacity with a safety factor of at least 2.</li>
			</ul>

	<h2>~~Team~~</h2>		<h2>Verification and Testing</h2>
	<ul>		<ul>
	<li>~~<strong>Project Lead:</strong> Dr~~. ~~Orion Lawlor~~</li>		<li>Destructive and nondestructive compressive load tests.</li>
	<li>~~<strong>Team Members:</strong> Andrew Mattson (CS BS/MS), Elliot Madsen (ME BS), Delano Horner (ME BS), Daniel Schliesing (ME BS), Kory Lamme (ME BS)~~</li>		<li>Full-scale assembly and snow load testing in a controlled environment.</li>
	<li>~~<strong>Construction Expert:</strong> Dr~~. ~~Nima Farzadnia~~</li>		<li>Robot alignment and assembly demonstration in a lab setting.</li>
	</ul>		</ul>

	<h2>Educational Integration</h2>		<h2>Educational Integration</h2>
	<p>The project ~~will be integrated~~ into UAF's ~~computer science~~ curriculum ~~as a special topics course in Fall 2024 and as a~~ systems design ~~seminar in Spring 2025~~.</p>		<p>The project integrates into UAF's curriculum, offering hands-on systems design and testing opportunities for engineering students.</p>

	<h2>Additional Information</h2>		<h2>Additional Information</h2>
	<p>For more details, please contact Dr. Orion Lawlor at oslawlor@alaska.edu.</p>		<p>For more details, please contact Dr. Orion Lawlor at oslawlor@alaska.edu or visit the [https://spacegrant.org/xhab/ NASA X-Hab Challenge website].</p>

Acmattson3: Updated for relevancy.

2024-12-21T22:29:47Z

Updated for relevancy.

← Older revision		Revision as of 14:29, 21 December 2024
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	<h2>Project Vision and Mission</h2>		<h2>Project Vision and Mission</h2>
	<ul>		<ul>
	<li><strong>Vision:</strong> Transform the solar system using robotic construction with local materials.</li>		<li><strong>Long-Term Vision:</strong> Transform the solar system using robotic construction with local materials.</li>
	<li><strong>Mission:</strong> Design ~~construction~~ robots capable of autonomously ~~building~~ Artemis Base Camp structures using locally sourced regolith.</li>		<li>'''Short-Term Vision:''' Robotic construction of Artemis Base Camp.</li>
			<li><strong>Mission:</strong> Design and demonstrate robots capable of autonomously constructing Artemis Base Camp structures using locally sourced Lunar regolith, focusing first on an arch-based, regolith-covered vehicle bay.</li>
	</ul>		</ul>