Geotechnical Regolith Advanced Site Preparation (GRASP)

For Cislunes Phase II STTR Proposal, Rover Wheel Compaction and Analysis Framework, we will significantly advance the development of optimized rover wheel designs and geotechnical methods to enable the construction of durable regolith-based infrastructure on the lunar surface. In Phase I, the team found a wheel design capable of increasing the Cone Penetrometer Index (CPI) by 20%, proving that wheel topology has a direct and significant impact on compaction. Building on these successes, we will refine Discrete Element Method (DEM) simulations in conjunction with topology optimization techniques to create wheel topologies that maximize compaction. This optimization is essential for maximizing compaction efficiency, minimizing slippage, and ensuring the creation of engineered surfaces capable of supporting heavy loads. These wheels and the algorithms designed in Phase I will be integrated into a sophisticated robotic excavation system, equipped with real-time, modular geotechnical characterization tools, including a bevameter, and wheel drive system telemetry capable of predicting the CPI. These tools will continuously monitor and assess the mechanical properties of the regolith during the construction process, allowing for dynamic adjustments to excavation and compaction operations. The topology-optimized wheel designs will ensure optimal interaction with lunar regolith, resulting in stable, load-bearing surfaces that meet stringent requirements for lunar missions. The project will culminate in a full-scale demonstration of the robotic construction of a compacted regolith landing pad and surrounding berm, providing critical validation of the technologies developed and their readiness for deployment in NASAs Artemis program. This work aims to equip NASA with the tools necessary to establish permanent, safe, and reliable infrastructure in the challenging lunar environment, supporting the broader objectives of sustained human exploration and settlement on the Moon.