[American Society of Civil Engineers Thirteenth ASCE Aerospace Division Conference on Engineering, Science, Construction, and Operations in Challenging Environments, and the 5th NASA/ASCE Workshop On Granular Materials in Space Exploration - Pasadena, California, United States (April 15-18, 2012)] Earth and Space 2012 - Human Exploration of Asteroids, the Moon, and Mars Using Robotic Arm-Equipped Pressurized Vehicles