  Drilling and Extraction Automated System (DREAMS) is a fully automated
prototype-drilling rig that can drill, extract water and assess subsurface
density profiles from simulated lunar and Martian subsurface ice. DREAMS system
is developed by the Texas A&M drilling automation team and composed of four
main components: 1- tensegrity rig structure, 2- drilling system, 3- water
extracting and heating system, and 4- electronic hardware, controls, and
machine algorithm. The vertical and rotational movements are controlled by
using an Acme rod, stepper, and rotary motor. DREAMS is a unique system and
different from other systems presented before in the NASA Rascal-Al competition
because 1- It uses the tensegrity structure concept to decrease the system
weight, improve mobility, and easier installation in space. 2- It cuts rock
layers by using a short bit length connected to drill pipes. This drilling
methodology is expected to drill hundreds and thousands of meters below the
moon and Martian surfaces without any anticipated problems (not only 1 m.). 3-
Drilling, heating, and extraction systems are integrated into one system that
can work simultaneously or individually to save time and cost.
