SATPC0029890 Tab 04 Tab 04 SOW NASA_Redacted.pdf

Statement of Work

Caterpillar Inc. Support of The In-Situ Resource Utilization

Pilot Excavator Project

November 09, 2022

• Angle of Repose – Data to include: Friction between test disc and regolith (static and rolling coefficient of friction), size and shape of the disc, height of material drop.

• Tri-Axial Compression – Raw data will be obtained from associate author of the published paper ‘Geotechnical Properties of BP-1 Lunar Regolith Simulant’. If data unavailable, NASA KSC will perform triaxial testing.

• Shear – Pocket shear vane test data will be obtained from published paper ‘Soil Test Apparatus for Lunar Surfaces’. If tests need to be repeated, NASA KSC will perform testing.

Systems Tests:

• Single Drum – NASA KSC will provide test data & detailed CAD of test articles from paper ‘ISRU Pilot Excavator: Bucket Drum Scaling Experimental Results’

• Mobility/Drawbar – Using the control parameters: wheel rotation velocity, load condition, vehicle configuration. And the dependent parameters: wheel torque, ground truth translation velocity, wheel slip.

• Task 2 – Provide an analysis of runtime versus computing resources.

o Caterpillar will also provide a comparison, where possible, against commercial code EDEM for runtime vs computing resources, numerical stability and accuracy.

o Task 2 shall be completed with task 1 unless otherwise negotiated with Project PI, PM or CO.

• Task 3 – Determination of modeling environment to support autonomy/mission conops simulations o Caterpillar will provide a recommendation as to whether a different modeling approach will be necessary to support autonomy and conops simulations.

o This will be based on the tradeoffs of simulation fidelity versus runtime and associated computing resources achievable with Rocks3D since the autonomy/conops simulations will require real time or faster than real time simulation run times.

o Task 3 shall be completed with Task 1 unless otherwise negotiated with Project PI,

• Task 4 – Estimate cost to support NASA IPEx Mission through completion o NASA will provide necessary IPEx design information & likely lander system.

o Caterpillar will assess its Dynasty multi-body dynamics code’s ability to simulate this system o Caterpillar will provide a cost estimate for licensing (including Rocks3D &

Dynasty), training (including Rocks3D and Dynasty), Subject Matter Expert consultation support, and development of empirical model (Task 3), if needed.

o Task 4 shall be completed with Task 1 unless otherwise negotiated with Project PI, Deliverable Summary:

Task # Task Description Timing Task 1 Tune Discrete Element Model (DEM) to NASA provided test data 2 months after receipt of test data

Task 2 Runtime versus compute environment based on Task 1 outcomes

With completion of Task 1

Task 3 Determination of modeling environment to support autonomy/conops simulations

With completion of Task 1

Task 4 Cost estimate to support NASA IPE mission through completion – based on outcome/success of Tasks 1-3.

With completion of Task 1

Ground Rules / Assumptions:

• There are no delivery of goods or material costs associated with this Level-1 contract.

• Technical content of deliverables and their submittal dates should be held to this SOW unless otherwise negotiated and approved by the NASA PI, PM or CO.