ORCID

https://orcid.org/0000-0002-3799-6150

Keywords

lunar, regolith, geomechanics, geotechnical, simulant, exploration

Abstract

Sustained exploration of the Moon requires quantitative understanding of lunar regolith properties to support scientific investigation, in situ resource utilization, excavation, and infrastructure development. This dissertation examines the mechanical interaction between robotic excavation systems and lunar regolith, emphasizing how regolith behavior both enables and constrains exploration-focused and exploration-enabled science. Computational excavation models were compared to laboratory data to evaluate prediction of excavation forces and to develop metrics of excavation efficiency. Laboratory experiments using high-fidelity lunar regolith simulants were conducted to characterize pressure-sinkage behavior, shear strength, and angle of repose across a range of material states. Common analytical excavation and terramechanics models were assessed and shown to be inadequate for uniquely or reliably predicting regolith mechanical properties from excavation data, highlighting limitations of terrestrial soil models when applied to granular, angular, low-gravity materials. New quantitative efficiency metrics reveal predictable relationships between actuation parameters, excavation depth, and force reduction, as well as diminishing returns at higher percussive frequencies. Robotic arm-based experiments demonstrate that pressure-sinkage and angle of repose measurements can be used to infer relative regolith density and near-surface mechanical behavior, while shear strength measurements require specialized tool geometries and boundary conditions to produce interpretable results. Collectively, the findings demonstrate that excavation and surface operations are not only engineering activities but also powerful scientific tools that provide insight into subsurface structure, stratigraphy, and regolith formation processes. This work supports an integrated approach to lunar surface exploration in which excavation and surface operations are leveraged as primary tools for exploration-focused and exploration-enabled science, enabling sustained robotic and human exploration of the Moon and other planetary bodies.

Completion Date

2026

Semester

Spring

Committee Chair

Britt, Daniel

Degree

Doctor of Philosophy (Ph.D.)

College

College of Sciences

Department

Department of Physics

Format

PDF

Document Type

Dissertation

Identifier

DP0053118

Download

Share

COinS
 

Accessibility Statement

This item was created or digitized prior to April 24, 2027, or is a reproduction of legacy media created before that date. It is preserved in its original, unmodified state specifically for research, reference, or historical recordkeeping. In accordance with the ADA Title II Final Rule, the University Libraries provides accessible versions of archival materials upon request. To request an accommodation for this item, please submit an accessibility request form.