Nov 2014 Nature: Thousands of shipping-container-sized and larger asteroids pass almost as close as the Moon each year. We need to find them far enough in advance, and abundant opportunities for crewed missions will open up
ARM is a multibillion-dollar stunt to retrieve part of an asteroid and bring it close to Earth where astronauts can reach it. It will require an ancillary spacecraft deploying either a huge capture bag or a Rube Goldberg contraption resembling a giant arcade-game claw. Neither technology is useful for getting humans to Mars.
This gateway for human space exploration requires three things:
1- a thorough asteroid survey to find thousands of nearby bodies suitable for astronauts to visit;
2- extending flight duration and distance capability to ever-increasing ranges out to Mars;
3- developing better robotic vehicles and tools to enable astronauts to explore an asteroid regardless of its size, shape or spin.
Nov 2014 Sci America A retrieval mission gets you one asteroid, but a survey gets you thousands that you could potentially visit. ARM doesn't advance anything and the hardware is short of delta-V and delta-P.
While more thorough surveys would be nice, I strongly disagree with the conclusion. The manned visit to the asteroid is the less important part, while the ARM is the really, really important part of the mission which enables practical asteroid ISRU or planetary protection.
Using the figures from the Keck report, asteroid retrieval can net you over 50 times the IMLEO mass launched as asteroid rock in Lunar orbit, and for stony asteroids at least one third of that mass is Oxygen. With LOX ISRU, that is an insanely large mass multiplier. The LOX can be used for anything from extended lunar exploration to sending very large spacecraft to Mars.
Visit, Deflect, Retrieve—Least Energy/Cost to Most Required. The “ARM” is Retrieve. So the mission could be AVM, ADM, or APM for “Political”. Before visit, one needs to survey.
No justification is given for "retrieve" because the costs of mission to retrieve one (very small, with little chance of resources ) asteroid are significantly higher than visiting and/or deflecting many asteroids. The figure from the Nature article (attached) by Binzel clearly identifies that moving the rock to L2 is the exact opposite of recommendation 2: extending flight duration and distance capability to ever-increasing ranges out *to* Mars.
To head *TO* Mars, a LEO ZBO depot is THE number one priority--HLV not required. The re-usable deep space habitat, the L2 Based Gateway voyager--not stuck in one location, is key piece of hardware for crew missions. In-space propulsion, economic access to space, crew health, space power--the other space grand challenges, have equal or greater priority than ISRU. For example, and reusable EP and chemical tugs that travel to and from an asteroid from L2, which will eventually cycle to Mars. To pay for all this shift resources away from SLS/Orion.
Spending a few *millions* on ISRU beginning with ground demonstrations in conjunction with the asteroid surveys is also required FIRST to justify the ISRU feasibility versus many other competing needs.
For NASA, the direction continues to be *to* Mars with a new reuseable, launch vehicle independent architecture; and for the Country, consolidate the Atlas/Delta/SLS into a single common LV
I actually think getting a significant asteroid sample (we're talking 80-500mT here) back to a lunar orbit where you can develop ISRU capabilities is far more important than trying to expedite a NASA Mars mission that's never going to happen.
I agree with you that depots are important, but NASA isn't going to fund them because they politically destroy the case for SLS, and so long as Senator Shelby is parked on the appropriation committee over NASA, that's going to be their focus. I'll take a consolation prize of having a second moon in cislunar space that is now easy to visit for any commercial or NASA entity that's interested.
All the events clearly indicate that SLS will be cancelled. If you are willing to be 'compromised', that is your choice. Soon even
NSF will stop discussing earth bound transportation systems.One does not need an asteroid nearby to develop ISRU...the ISRU equipment is pretty much independent of its destination. Tech maturation can occur on the (Earth's) ground.. much cheaper too. The SLS programs
promises that the ISRU flight demo will be funded as soon as Orion is certified....

Supporting SLS/Orion for a Consolation Prize of ISRU! NP! SLS/Orion will fit ISRU right into the schedule, provide inadequate funding, and keep all the folks employed for decades with its 2030s milestone to inspire the kids, with the new slogan "
For the benefit of all mankind {
this space for sale}."
Per the generous post of "Numbersguy101" on another blog.
Step 1. Attempt to divert Science directorate funds.
Step 2. If successful, fund the robotic probe to fetch smallest possible asteroid that's soonest.
(If not, keep up the story anyway till the 20-20's by funding studies)
Step 3. Assure secondary, tertiary, etc targets (for if delays).
Step 4: Generate nice art. Further avoid discussion of dates.
Step 5 (year 20-20-something): Place on manifest after initial SLS/Orion flights.
Step 6: Procure 2 customized ICPS's.
Step 7: Wait.
Step 8: (year 20-30-something) Launch SLS/Orion, rendezvous w. object, etc. return.
(2040s) depots, radiation shielding, DSH, closed ECLSS, communications, right after the six new engine programs required for 'explorin, oh and the ISRU flight was cancelled because it has an inadequate TRL level ( only ground tested !!!) not to mention that it will
destroy the need for SLS. Besides, all that LOX and LH2 and methane produced by ISRU would be used to power ISRU to produce more propellants, and the extra propellant would just boil away since it does not have a depot nearby. ISRU exists to exist!
Is there a better path forward? Yes! The great news is that without Orion/SLS, ISRU, moon, asteroids, Mars precursors are possible before your ISRU+SLS milestone is cancelled

Up for a REAL challenge?