| Foreword |
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v | |
| Preface |
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xix | |
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xxi | |
| Acknowledgements |
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xxvii | |
| Color Plates |
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xxxi | |
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Drills as Tools for Media Penetration and Sampling |
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1 | (30) |
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Introduction and Historical Perspective |
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1 | (8) |
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Methods of Drilling and Penetration of Objects |
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9 | (5) |
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9 | (3) |
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12 | (1) |
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13 | (1) |
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Types of Mechanical Drills |
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14 | (1) |
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14 | (1) |
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15 | (1) |
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15 | (1) |
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Bits -- the End-Effector of Drills |
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15 | (4) |
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15 | (1) |
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16 | (1) |
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Centering and Spotting Drill Bits |
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17 | (1) |
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18 | (1) |
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Application of Drilling Techniques |
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19 | (8) |
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Geological Studies and Search for Resources |
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19 | (1) |
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20 | (1) |
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Petroleum and Gas Drilling and Exploration |
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21 | (2) |
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Ocean and Seafloor Drilling |
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23 | (1) |
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Planetary Drilling and Sampling |
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23 | (2) |
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25 | (1) |
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25 | (2) |
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27 | (4) |
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28 | (3) |
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Principles of Drilling and Excavation |
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31 | (110) |
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31 | (1) |
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Physical Properties of Rocks |
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31 | (34) |
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31 | (17) |
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48 | (4) |
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Influence Factors for Rock Mechanical Properties |
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52 | (13) |
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Stresses and Energy in Drilling |
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65 | (24) |
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Stress in Sedimentary Basins |
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65 | (18) |
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Stresses Around a Borehole |
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83 | (6) |
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Theories of Rock Breakage |
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89 | (37) |
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89 | (15) |
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104 | (14) |
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118 | (1) |
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118 | (1) |
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119 | (7) |
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126 | (15) |
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Underground Rocks and Stresses |
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126 | (2) |
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128 | (1) |
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Effect of Environment on Drilling |
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129 | (3) |
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132 | (9) |
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Ground Drilling and Excavation |
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141 | (80) |
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Alfred William (Bill) Eustes III |
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141 | (3) |
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Three Requirements for Any Drilling System |
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141 | (2) |
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143 | (1) |
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144 | (18) |
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144 | (5) |
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149 | (13) |
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162 | (12) |
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Basic Rock Destruction Mechanism |
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163 | (2) |
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Specific Energy Comparison of Different Drilling Methods |
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165 | (9) |
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Cuttings Transport and Disposal |
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174 | (9) |
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Cuttings Transport from Under a Bit in Terrestrial Operations |
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174 | (1) |
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Cuttings Transport Beyond the Bit |
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175 | (3) |
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178 | (1) |
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179 | (2) |
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Creation of Disposal Volume |
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181 | (2) |
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183 | (16) |
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183 | (2) |
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Directional Control Factors |
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185 | (103) |
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288 | |
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191 | (1) |
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192 | (1) |
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193 | (3) |
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196 | (1) |
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197 | (2) |
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199 | (1) |
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Sidewall Friction and Unconsolidated Drilling Issues |
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199 | (15) |
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Soil Penetration by Cones |
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200 | (1) |
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201 | (2) |
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Methods of Cone Resistance Determination |
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203 | (6) |
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209 | (1) |
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210 | (1) |
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210 | (2) |
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Impact on Penetration Resistance |
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212 | (2) |
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214 | (7) |
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215 | (6) |
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221 | (88) |
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221 | (3) |
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224 | (38) |
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Surface-Driven Rotary Drills |
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224 | (2) |
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226 | (1) |
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Cable-Suspended Electromechanical Drills |
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226 | (22) |
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Cable-Suspended Electrothermal Drills |
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248 | (9) |
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257 | (2) |
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``Koci Drill'' for Debris-Laden Ice |
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259 | (3) |
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262 | (24) |
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Hot-Water Drilling Systems |
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262 | (21) |
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283 | (1) |
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283 | (1) |
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284 | (1) |
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284 | (1) |
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285 | (1) |
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Coiled Tubing Drill for Ice |
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286 | (1) |
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Autonomous Ice-Melting Drills |
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286 | (5) |
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288 | (1) |
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289 | (2) |
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291 | (4) |
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293 | (1) |
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294 | (1) |
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Comments on Encountering the Bed |
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295 | (2) |
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Drilling to Characterize the Glacier Bed |
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297 | (3) |
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297 | (2) |
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Sampling and Characterizing the Bed |
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299 | (1) |
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300 | (9) |
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303 | (6) |
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309 | (38) |
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309 | (1) |
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309 | (3) |
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Exploration and Production Drill Ship |
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310 | (1) |
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311 | (1) |
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Semi-Submersible Drilling |
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311 | (1) |
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312 | (1) |
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313 | (5) |
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Drilling, Observation and Sampling of the Earth's Continental Crust (DOSECC) |
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313 | (2) |
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Integrated Ocean Drilling Program (IODP) |
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315 | (3) |
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Remotely Controlled Robotic Seafloor Drilling |
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318 | (18) |
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Robotic Drilling Techniques -- Rod Drilling |
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320 | (5) |
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Robotic Drilling Techniques -- Wireline Drilling |
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325 | (3) |
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328 | (8) |
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336 | (7) |
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337 | (1) |
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337 | (1) |
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338 | (3) |
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341 | (2) |
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343 | (1) |
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343 | (4) |
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344 | (3) |
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Extraterrestrial Drilling and Excavation |
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347 | (212) |
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Why Subsurface Exploration? |
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347 | (5) |
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Search for Evidence of Existing or Extinct Life |
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348 | (1) |
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Science Rationale for Drilling on Mars |
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349 | (3) |
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Search for Resources and In Situ Resource Utilization to Support Human Exploration |
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352 | (1) |
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Methods for Subsurface Access on Extraterrestrial Bodies |
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352 | (3) |
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Grinders and Rock Abrasion Tools |
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355 | (3) |
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355 | (1) |
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The Beagle 2 Rock Corer Grinder |
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356 | (1) |
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Ultrasonic Rock Abrasion Tool (URAT) |
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356 | (2) |
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358 | (8) |
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358 | (2) |
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Viking Lander Surface Sampler Acquisition Assembly |
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360 | (1) |
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361 | (3) |
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364 | (1) |
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365 | (1) |
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366 | (11) |
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The European Space Agency Mobile Penetrometer |
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366 | (2) |
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The Moon/Mars Underground Mole (MMUM) |
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368 | (4) |
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Instrumented Mole System (IMS) |
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372 | (1) |
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Mole-Type Excavation Robot for Subsurface Exploration |
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373 | (4) |
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Ultrasonic and Percussive Actuated Drills |
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377 | (25) |
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Ultrasonically Assisted Drilling |
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377 | (2) |
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Ultrasonic/Sonic Driller/Corer (USDC) |
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379 | (8) |
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Mars Integrated Drilling and Sampling (MIDAS) System |
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387 | (3) |
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ESA Ultrasonic Rock Corer |
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390 | (2) |
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ESA Ultrasonic Drill Tool (UDT) |
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392 | (1) |
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Drill with Hammering Mechanism (DHM) |
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393 | (6) |
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Percussive Regolith Penetrometer |
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399 | (3) |
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402 | (19) |
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Low-Force Sample Acquisition System (LSAS) |
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402 | (3) |
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405 | (2) |
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Coring and Abrading Tool (CAT) |
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407 | (4) |
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Small Sample Acquisition and Distribution Tool (SSA/DT) |
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411 | (1) |
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SENER Touch-and-Go Sampler |
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412 | (1) |
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Honeybee Robotics Touch-and-Go Sampler |
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413 | (3) |
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Near-Earth Asteroid Sample Return |
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416 | (1) |
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417 | (4) |
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Shallow Drilling: One Meter Class Drills |
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421 | (41) |
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CNSR Sample Acquisition System for 1 m (SAS-1m) |
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422 | (1) |
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Sample Acquisition and Preprocessing System (EBRC) |
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423 | (15) |
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438 | (3) |
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ATK's Segmented Coring Auger Drill (SCAD) |
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441 | (3) |
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Pneumatic Drill and Excavation System |
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444 | (5) |
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The Sample Acquisition and Transfer Mechanism (SATM) Drill |
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449 | (2) |
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CNSR Sample Acquisition System for 3 m (SAS-3m) |
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451 | (1) |
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Rover-Based Deep Drill MicroRoSA |
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452 | (1) |
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Construction and Resource Utilization Explorer Drill |
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453 | (2) |
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Subsurface Corer Sampling System |
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455 | (3) |
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Subsurface Telescoping Sampling System |
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458 | (2) |
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460 | (2) |
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462 | (14) |
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Mars Astrobiology Research and Technology Experiment (MARTE) |
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462 | (2) |
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Drilling Automation for Mars Exploration (DAME) |
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464 | (5) |
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469 | (4) |
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Subsurface Planetary Exploration Core Extracting System (SPECES) Drill |
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473 | (2) |
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475 | (1) |
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476 | (17) |
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Subsurface Explorer (SUBEX) |
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477 | (2) |
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479 | (9) |
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Autonomous Tethered Corer |
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488 | (1) |
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Inchworm Deep Drilling System |
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489 | (2) |
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Modular Planetary Drill System (MPDS) |
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491 | (2) |
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Past and Present Subsurface Access Missions |
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493 | (11) |
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Apollo Drive Tubes and Drill |
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493 | (4) |
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497 | (1) |
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498 | (1) |
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The Rosetta Lander Drill, Sampler and Distribution System (SD2) |
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499 | (2) |
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501 | (1) |
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Sampling Mole PLUTO on Mars Express -- Beagle 2 |
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502 | (1) |
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The Beagle 2 Rock Corer Grinder (RCG) |
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503 | (1) |
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Asteroid Surface Sampling Device |
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504 | (1) |
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504 | (6) |
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The Mars Science Laboratory (MSL) Rover Drill |
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504 | (2) |
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506 | (4) |
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Future European Prospects in Science and Exploration Programs |
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510 | (2) |
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510 | (1) |
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511 | (1) |
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Bio-Inspired Drilling Systems for Future Space Applications |
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512 | (8) |
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512 | (1) |
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Bio-Inspiration from Wood Wasp Digging System |
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513 | (1) |
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Plant-Inspired Space Probe |
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514 | (1) |
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The Locust as a Model for Inspiring Digging System |
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515 | (1) |
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516 | (1) |
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Material Transport System |
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517 | (1) |
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Gecko-Inspired Cuttings Removal |
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517 | (3) |
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520 | (1) |
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520 | (1) |
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Why Space Drilling Needs Automation |
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520 | (1) |
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521 | (1) |
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Testing of Subsurface Systems |
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521 | (7) |
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Reason for Testing in a Relevant Environment |
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522 | (1) |
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Japan Aerospace Exploration Agency (JAXA) |
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523 | (2) |
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Honeybee Robotics Drill Testing Facility |
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525 | (2) |
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ATK Space Subsurface Access Testing Laboratory |
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527 | (1) |
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Space Analogs on Earth for Field Test Simulations of In Situ Planetary Drilling |
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528 | (6) |
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529 | (3) |
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532 | (1) |
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532 | (1) |
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532 | (1) |
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532 | (1) |
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533 | (1) |
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Drill Evaluation Criteria |
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534 | (7) |
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541 | (18) |
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546 | (13) |
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Planetary Sample Handling and Processing |
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559 | (84) |
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559 | (5) |
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559 | (3) |
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Comminution Requirements for Planetary Applications |
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562 | (2) |
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564 | (9) |
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Background to Comminution |
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564 | (1) |
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565 | (2) |
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Energy Requirements in Breaking Rock |
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567 | (1) |
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Analysis of Broken Material |
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568 | (3) |
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Sample Caking During Grinding |
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571 | (1) |
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572 | (1) |
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Hardness of Material vs Hardness of Crushing/Grinding Surfaces |
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573 | (1) |
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Classification of Comminution Equipment |
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573 | (1) |
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Classification According to Size of the Product |
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574 | (1) |
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Classification According to Comminution Process |
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574 | (1) |
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Nipping (Compression) Machines |
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574 | (4) |
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575 | (1) |
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Gyratory and Cone Crushers |
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576 | (1) |
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577 | (1) |
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578 | (5) |
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580 | (1) |
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580 | (1) |
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580 | (1) |
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580 | (1) |
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581 | (1) |
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582 | (1) |
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Cryogenic/Magnetic Hammer Mill |
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582 | (1) |
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583 | (2) |
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583 | (1) |
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583 | (1) |
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Autogenous and Semi-Autogenous Mills |
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584 | (1) |
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585 | (1) |
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Knives, Shears, and Wedges |
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585 | (1) |
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585 | (1) |
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585 | (4) |
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586 | (1) |
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586 | (1) |
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587 | (1) |
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587 | (1) |
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Disk Mill (or Colloid Mill) |
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588 | (1) |
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589 | (1) |
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Other Methods of Comminution |
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589 | (2) |
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589 | (1) |
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590 | (1) |
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590 | (1) |
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590 | (1) |
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590 | (1) |
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591 | (1) |
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Selection of Comminution Equipment for Planetary Sampling |
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591 | (4) |
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591 | (3) |
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594 | (1) |
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New Technologies and Innovations |
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595 | (1) |
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Review of Recent and Current Work on Comminution for Planetary Sampling |
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595 | (25) |
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595 | (1) |
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Sample Processing Unit (SPU) |
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596 | (4) |
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Mechanized Sample Handler (MeSH): an Integrated Sample Crushing, Sieving, and Distribution System |
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600 | (20) |
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620 | (4) |
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621 | (1) |
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621 | (3) |
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624 | (4) |
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624 | (4) |
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Sample Acquisition from Surface Platforms |
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628 | (4) |
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Terrain Sensing Techniques |
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628 | (4) |
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Sample Acquisition from Aerial Platforms |
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632 | (4) |
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Small-Body Sampling from Spacecraft |
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633 | (2) |
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635 | (1) |
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636 | (7) |
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638 | (5) |
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Instruments for In Situ Sample Analysis |
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643 | (64) |
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643 | (8) |
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Instrument Design Considerations |
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651 | (1) |
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652 | (4) |
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656 | (10) |
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Imaging and Spectroscopic Instruments |
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657 | (9) |
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Mineralogy Identification |
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666 | (8) |
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666 | (1) |
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Spectrometers (UV/VIS, Near-IR, Mid-IR, Far-IR, etc.) |
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667 | (2) |
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Differential Scanning Calorimetry |
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669 | (1) |
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669 | (3) |
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672 | (1) |
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Contact X-Ray Diffraction |
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673 | (1) |
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674 | (11) |
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675 | (2) |
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Ion- Selective Electrodes, pH, and Redox Meters |
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677 | (2) |
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679 | (3) |
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Gas Chromatography/Mass Spectrometry (GC/MS) |
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682 | (3) |
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685 | (9) |
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Capillary Electrophoresis |
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686 | (1) |
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Liquid Chromatography and Ion Chromatography |
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|
687 | (2) |
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689 | (1) |
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Colorimetric and Fluorescence Assays in Solution |
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690 | (1) |
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690 | (1) |
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Non-Traditional Separation Approaches (e.g., Carbon Nanotubes) |
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691 | (1) |
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692 | (2) |
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694 | (13) |
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695 | (12) |
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Contamination Control and Planetary Protection |
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|
707 | (34) |
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|
707 | (1) |
|
Contamination Control and Planetary Protection Similarities and Differences |
|
|
707 | (5) |
|
Mission Science as a Driver of Contamination Control |
|
|
708 | (1) |
|
Planetary Protection as a Mission Compliance Constraint |
|
|
708 | (4) |
|
Contamination Control for Drilling and Excavation Applications |
|
|
712 | (7) |
|
Quantifying Molecular Contamination Level Requirements |
|
|
713 | (1) |
|
Quantifying Particulate Contamination Level Requirements |
|
|
714 | (2) |
|
|
|
716 | (3) |
|
Planetary Protection for Drilling and Excavation Applications |
|
|
719 | (12) |
|
Forward (Outbound) Planetary Protection -- Requirements and Constraints |
|
|
719 | (6) |
|
Backward (Sample Return) Planetary Protection -- Requirements and Constraints |
|
|
725 | (1) |
|
Space Hardware Sterilization and Biodecontamination |
|
|
726 | (5) |
|
Contamination Control and Planetary Protection Case Studies |
|
|
731 | (5) |
|
Viking System Sterilization |
|
|
731 | (1) |
|
Beagle 2/Mars Express -- Extreme Sensitivity |
|
|
732 | (2) |
|
Phoenix -- a Biobarrier Solution |
|
|
734 | (2) |
|
Contamination Control and Planetary Protection Trends and Future Development |
|
|
736 | (5) |
|
|
|
737 | (4) |
|
Drilling Capabilities, Challenges, and Future Possibilities |
|
|
741 | (14) |
|
|
|
|
|
|
|
741 | (1) |
|
Drilling Various Media in Challenging Environments |
|
|
741 | (7) |
|
Drilling in Extremely Cold Environments |
|
|
742 | (1) |
|
Drilling in Extremely Hot Environments |
|
|
743 | (3) |
|
Drilling Through the Seafloor Deep in the Ocean |
|
|
746 | (1) |
|
Drilling on Extraterrestrial Bodies |
|
|
746 | (2) |
|
Drilling via Rock Fracture -- Sampling Mechanisms |
|
|
748 | (1) |
|
|
|
749 | (1) |
|
Challenges to Drilling Technologies |
|
|
750 | (2) |
|
Challenges to Modeling Drilling Processes |
|
|
750 | (1) |
|
Drilling in Planetary Conditions |
|
|
750 | (1) |
|
Sampling as the Objective of Planetary Exploration Missions |
|
|
750 | (1) |
|
Sample Analyzers and Related Challenges |
|
|
751 | (1) |
|
|
|
752 | (1) |
|
Cleaning Drills to Avoid Cross-Contamination |
|
|
752 | (1) |
|
|
|
752 | (3) |
|
|
|
753 | (2) |
| Index |
|
755 | |
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