Design-to-Robotic-Production of Underground Habitats on Mars

H. Bier, Edwin Vermeer, A. Hidding, K. Jani
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Abstract

In order for off-Earth top surface structures built from regolith to protect astronauts from radiation, they need to be several meters thick. Technical University Delft (TUD) proposes to excavate into the ground to create subsurface habitats. By excavating, not only can natural protection from radiation be achieved but also thermal insulation, as the temperature is more stable underground. At the same time, valuable resources can be excavated via in-situ resource utilization (ISRU). In this process, a swarm of autonomous mobile robots excavate the ground in a downwards sloping spiral movement. The excavated regolith will be mixed with cement, which can be produced on Mars through ISRU, in order to create concrete. The concrete is then 3D printed/sprayed onto the excavated tunnel to reinforce it. As soon as the tunnels are reinforced, the material between the tunnels can be removed in order to create a larger cavity that can be used for habitation. The proposed approach relies on design-to-robotic-production (D2RP) technology developed at TUD  for on-Earth applications. The rhizomatic 3D-printed structure is a structurally optimized, porous shell structure with increased insulation properties. In order to regulate the indoor pressurised environment, an inflatable structure is placed inside the 3D-printed cavity. This inflatable structure is made of materials that can at some point also be produced on Mars via ISRU. Depending on location, the habitat and the production system are powered by a system combining solar and kite-power.  The ultimate goal is to develop an autarkic D2RP system for building subsurface autarkic habitats on Mars from locally-obtained materials.
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从设计到机器人生产火星地下栖息地
为了用风化层建造远离地球的顶部表面结构,以保护宇航员免受辐射,它们需要有几米厚。代尔夫特技术大学(TUD)建议在地下挖掘,创造地下栖息地。通过挖掘,不仅可以实现自然防护辐射,而且可以隔热,因为地下的温度更稳定。同时,通过就地资源利用(ISRU)可以挖掘出有价值的资源。在这个过程中,一群自主移动机器人以向下倾斜的螺旋运动挖掘地面。挖掘出来的风化层将与可以通过ISRU在火星上生产的水泥混合,以制造混凝土。然后将混凝土3D打印/喷涂到挖掘的隧道上以加固它。一旦隧道得到加固,隧道之间的材料就可以被移除,以创造一个更大的可用于居住的空腔。提出的方法依赖于设计到机器人生产(D2RP)技术,该技术是由TUD开发的,用于地球上的应用。根状3d打印结构是一种结构优化的多孔壳结构,具有更高的绝缘性能。为了调节室内压力环境,在3d打印腔内放置了一个充气结构。这个可充气的结构是由某种程度上也可以通过ISRU在火星上生产的材料制成的。根据位置的不同,栖息地和生产系统由太阳能和风筝发电相结合的系统供电。最终目标是开发一个自给自足的D2RP系统,用当地获得的材料在火星上建造地下自给栖息地。
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