Advancing Design-To-Robotic-Production and -Assembly of Underground Habitats on Mars

Bier, H.; Hidding, A.; Veer, F.; Peternel, L.; Schmehl, R.; Cervone, A.; Verma, M.

doi:10.1007/978-3-031-50081-7_2

H. Bier²⁶,
A. Hidding²⁶,
F. Veer²⁶,
L. Peternel²⁶,
R. Schmehl²⁶,
A. Cervone²⁶ &
…
M. Verma²⁶

Part of the book series: Springer Series in Adaptive Environments ((SPSADENV))

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The original version of the chapter has been revised: The author R. Schmehl’s name has been updated. A correction to this chapter can be found at https://doi.org/10.1007/978-3-031-50081-7_8

Abstract

In order for off-Earth top surface structures built from regolith to protect astronauts from radiation, they need to be several metres thick. In a feasibility study, funded by the European Space Agency, Technical University Delft (TUD aka TU Delft) explored the possibility of building in empty lava tubes to create rhizomatic subsurface habitats. With this approach natural protection from radiation is achieved as well as thermal insulation because the temperature is more stable underground. It involves a swarm of autonomous mobile robots that survey the areas and mine for materials such as regolith in order to create cement-based concrete reproducible on Mars through in-situ resource utilisation (ISRU). The concrete is 3D printed by means of additive Design-to-Robotic-Production (D2RP) methods developed at TUD for on-Earth applications with the 3D printing system of industrial partner, Vertico. The printed components are assembled using a Human–Robot Interaction (HRI) supported approach. The 3D printed and HRI-supported assembled structures are structurally optimised porous material systems with increased insulation properties. In order to regulate the indoor pressurised environment a Life Support System (LSS) is integrated, which in this study is only conceptually developed. The habitat and the D2RP production system are powered by an automated kite power system and solar panels developed at TUD. The long-term goal is to develop an autarkic, automated and HRI-supported D2RP system for building autarkic habitats from locally obtained materials.

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Change history

07 June 2024
A correction has been published.

Notes

1.
Link to ISECG's Global Exploration Roadmap: https://www.globalspaceexploration.org/?p=1184.
2.
Link to NASA-Langley: https://www.nasa.gov/feature/langley/a-new-home-on-mars-nasa-langley-s-icy-concept-for-living-on-the-red-planet.
3.
Link to Foster: https://www.fosterandpartners.com/projects/lunar-habitation/.
4.
Link to Apis Cor: https://apis-cor.com/.
5.
Link to AISpaceFactory: https://www.aispacefactory.com/marsha.
6.
Link to Zebro: https://tudelftroboticsinstitute.nl/robots/zebro.
7.
Link to ESA: https://www.esa.int/Enabling_Support/Preparing_for_the_Future/Discovery_and_Preparation/ESA_plans_mission_to_explore_lunar_caves.
8.
Link to project deliverable D5: https://docs.google.com/document/d/11wwFsh6__r2Z_zzBL1I80MNLxNW2SjL7kuDADm8vAYg/edit.
9.
Link to ESA: https://www.esa.int/Enabling_Support/Space_Engineering_Technology/Melissa.
10.
Link to project deliverable D5: Ibid.
11.
Link to deliverable D4: https://docs.google.com/presentation/d/1nEY7ndVd2UApp4HyE_Lh9pdGLXAwMJAO/view#slide=id.p12.
12.
Link to SDG: https://sdgs.un.org/goals.
13.
Link to McKinsey report 2020: https://www.mckinsey.com/~/media/mckinsey/featured%20insights/digital%20disruption/harnessing%20automation%20for%20a%20future%20that%20works/a-future-that-works-executive-summary-mgi-january-2017.ashx.

Abbreviations

ABC:: Artificial Bee Colony
D2RP&A:: Design-to-Robotic-Production and -Assembly
D2RO:: Design-to-Robotic-Operation
DE:: Differential Evolution
DSE:: Design Synthesis Exercise
ESA:: European Space Agency
HRI:: Human–Robot Interaction
IRL:: Inverse Reinforcement Learning
ISRU:: In Situ Resource Utilization
LSS:: Life Support System
ML:: Machine Learning
MELiSA:: Micro-Ecological Life Support System Alternative
NASA:: National Aeronautics and Space Administration
SI:: Swarm Intelligence
TUD:: Technical University Delft

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Acknowledgements

This project was funded through the co-funded research scheme of the European Space Agency's Discovery programme, under contract ESA AO/2-1749/20/NL/GLC. Co-funding, expertise and technology were provided by TUD, ESA and industrial partner Vertico. The project has profited from the contribution of TUD students and researchers involved in the project from ideation to proof of concept stages.

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TU Delft, Delft, Netherlands
H. Bier, A. Hidding, F. Veer, L. Peternel, R. Schmehl, A. Cervone & M. Verma

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H. Bier
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A. Hidding
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F. Veer
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L. Peternel
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R. Schmehl
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A. Cervone
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M. Verma
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Correspondence to H. Bier .

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Space Systems Engineering, Delft University of Technology, Delft, The Netherlands
Angelo Cervone
Delft University of Technology, DELFT, Zuid-Holland, The Netherlands
Henriette Bier
European Space Research and Technology C, Noordwijk, The Netherlands
Advenit Makaya

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Bier, H. et al. (2024). Advancing Design-To-Robotic-Production and -Assembly of Underground Habitats on Mars. In: Cervone, A., Bier, H., Makaya, A. (eds) Adaptive On- and Off-Earth Environments. Springer Series in Adaptive Environments. Springer, Cham. https://doi.org/10.1007/978-3-031-50081-7_2

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DOI: https://doi.org/10.1007/978-3-031-50081-7_2
Published: 11 April 2024
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-50080-0
Online ISBN: 978-3-031-50081-7
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