Self-Advancing Robotic Systems for Subsurface Characterization and Foundation Installation - College of Engineering - Purdue University

Project Description

Reliable characterization of subsurface engineering properties and installation of foundations
and anchors will be critical for future lunar and Martian infrastructure. However, conventional
penetration and foundation installation methods rely on substantial reaction forces provided by
large, heavy equipment. In low-gravity environments, these reaction forces are severely limited,
while the mass and payload capacity available for planetary missions are also highly
constrained.

This research aims to develop a lightweight, bio-inspired, self-advancing system that generates the
reaction forces required for penetration through an alternating anchoring strategy. A central
objective will be to develop and evaluate compact, deployable anchoring mechanisms capable
of mobilizing sufficient reaction force for advancement under the very low confinement of
planetary regolith. The resulting system will be investigated both as an autonomous in situ
testing platform for subsurface characterization and as a means of enabling self-installing
foundations and anchors.

By eliminating reliance on large external reaction platforms, this research could enable a new
generation of autonomous subsurface exploration and construction technologies. Such systems
could fundamentally expand where subsurface characterization and infrastructure installation
can be performed, from planetary surfaces to difficult-to-access terrestrial environments where
conventional drilling and penetration equipment cannot be deployed.

Start Date

January 15, 2027

Postdoc Qualifications

The ideal candidate will have a PhD or expected PhD in geotechnical engineering, or a related field, with a strong background in soil-structure interaction, penetration mechanics and insitu characterization. Experience with the design and prototyping of experimental systems, instrumentation, signal processing and data acquisition is highly desirable. Experience with field-scale testing and 3D CAD modeling would be beneficial.

Candidates should have an interest in interdisciplinary research spanning geotechnical engineering, mechanical and electrical systems, bio-inspiration, and space exploration. The successful candidate should demonstrate creativity, independence, ability to lead experimental research, strong technical communication skills, a record of peer-reviewed research, and enthusiasm for collaborative research across engineering disciplines.

Co-advisors

Monica Prezzi - mprezzi@ecn.purdue.edu - Civil and Construction Engineering
Andres F. Arrieta - aarrieta@purdue.edu - Mechanical Engineering and Ray W. Herrick Laboratories

Bibliography

1. Arshad, M. I., Tehrani, F. S., Prezzi, M., & Salgado, R. (2014). Experimental study of cone penetration in silica sand using digital image correlation. Géotechnique, 64(7), 551–569. https://doi.org/10.1680/geot.13.P.179
Relevance: Studied the evolution of cone resistance and the soil displacement field around the advancing cone. This approach is directly applicable to studying how the proposed self-advancing probe and deployable anchors interact with the surrounding regolith, and to relating measured penetration or anchoring resistance to the evolving soil deformation mechanism.

2. Michalaros, D., Addis, C. C., Rincon, J., Tinsley, C., Tinsley, K., Pundik, M., Rojas, S., & Arrieta, A. F. (2025). Stiffening multistable origami-inspired deployable structures from embeddable bistable units. Materials & Design, 253, 113887. https://doi.org/10.1016/j.matdes.2025.113887
Relevance: Demonstrates compact multistable structures capable of deployment and subsequent load-bearing stiffening, providing a mechanics framework for anchors that remain compact during advancement and expand to mobilize reaction against the surrounding regolith.

3. Briggs, G. A., & Gross, A. R. (2002). Technical challenges of drilling on Mars. In 40th AIAA Aerospace Sciences Meeting & Exhibit (AIAA 2002-0469). American Institute of Aeronautics and Astronautics.
Relevance: Establishes key challenges of planetary drilling, including limited spacecraft mass, power, and available reaction, motivating lightweight subsurface systems that do not depend on conventional heavy drilling platforms.

4. Chen, Y., Martinez, A., & DeJong, J. T. (2024). DEM simulations of a bio-inspired site characterization probe with two anchors. Acta Geotechnica, 19(3), 1495–1515. https://doi.org/10.1007/s11440-022-01684-5
Relevance: Provides the mechanical foundation for the proposed alternating dual-anchor strategy and supports the feasibility of using alternating subsurface anchors to generate the reaction required for autonomous advancement and site characterization.

5. Wang, B., Zhang, N., Chen, Y., Martinez, A., & Fuentes, R. (2024). Gravity effects on a bio-inspired self-burrowing probe in granular soils. Computers and Geotechnics, 176, 106748. https://doi.org/10.1016/j.compgeo.2024.106748
Relevance: Directly investigates self-burrowing under reduced-gravity conditions, including lunar- and Martian-relevant gravity levels, and provides evidence supporting the feasibility of the proposed self-advancing approach for planetary environments.

6. Spohn, T., Hudson, T. L., Witte, L., Wippermann, T., Wisniewski, L., Kedziora, B., Vrettos, C., Lorenz, R. D., Golombek, M., Lichtenheldt, R., Grott, M., Knollenberg, J., Krause, C., Fantinati, C., Nagihara, S., & Grygorczuk, J. (2022). The InSight-HP³ mole on Mars: Lessons learned from attempts to penetrate to depth in the Martian soil. Advances in Space Research, 69(8), 3140–3163. https://doi.org/10.1016/j.asr.2022.02.009
Relevance: Provides direct mission evidence that inadequate soil-probe reaction can prevent autonomous subsurface penetration. The ESA/NASA InSight HP³ mole targeted 3-5 m but reached only about 0.4 m, highlighting reaction generation and soil-probe interaction as critical design challenges.