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At least 235 records · Page 13

Lessons From the Pioneer Venus Program

We began the Pioneer Venus contract in late 1974 with a planned launch of the Orbiter in May 1978 and the Multiprobe in August 1978. Because we had four years, we thought there was plenty of time. As it turned out, we barely made the launch dates. The Orbiter was relatively straightforward, compared to the Multiprobe Bus and Probes that had to survive descent through the harsh Venusian atmosphere. To help overcome our many Multiprobe problems we formed a strong global team. The GE reentry team in Philadelphia, experienced in designing vehicles to enter the earth s atmosphere, was assigned the responsibility for the Probe entry system, including protective heat shielding and parachute design to extract the scienceladen Large Probe pressure vessel and control its descent through the Venusian clouds. Since the Probes had to remain stable as they descended through the Venus atmosphere, we used the aerodynamic expertise at the Hughes Missile Division, NASA s Ames Research Center and the Langley Research Center. Since the pressure at the surface of Venus was equivalent to an ocean depth of 3300 feet, we went to the Navy s David Taylor Research Center for their deepsea expertise. To test the pressure vessel at the high pressure and temperatures anticipated at Venus we went to the only facility capable of simulating the Venus surface environment, the Southwest Research Institute in San Antonio, Texas. We had dozens of subcontractors all over the world. As we developed our design, we began an extensive program to validate the ability of our Probe hardware to withstand the Venus environment. During this testing, we encountered numerous problems, mostly associated with adapting earth-based hardware to operate in the anticipated Venus environment. For example, the Large Probe pressure vessel imploded with a very loud bang the first time we tested its ability to withstand the high pressure and temperature on the Venusian surface. We had to go back and redesign, increasing the pressure vessel wall thickness. In addition, during the first tests of the parachute system, our parachute system ripped apart and had to be redesigned. Finally, at the aptly named test range in Truth or Consequences, New Mexico, we successfully demonstrated the parachute design by drop

Dorfman, Steven D.↗

Trajectory Design and Orbit Determination for the Lunar CRater Observation and Sensing Satellite (LCROSS)

The Lunar CRater Observation and Sensing Satellite (LCROSS) was competitively selected by the National Aeronautical and Space Administration (NASA) Exploration Systems Mission Directorate (ESMD) as a low-cost (< $80M) 1000 kg secondary payload to be launched with the Lunar Reconnaissance Orbiter (LRO) in October of 2008. LCROSS is a lunar impactor mission that will investigate the presence or absence of water in a permanently shadowed crater. Following launch, trans-lunar injection (TLI) and separation from LRO, LCROSS will remain attached to the launch vehicle's approximately 2300 kg spent Earth Departure Upper Stage (EDUS) and will guide it toward an impact of a permanently shadowed crater at the lunar South Pole. Hours prior to impact, LCROSS will separate from the EDUS and perform a braking maneuver that will allow the spacecraft to take measurements of the resulting EDUS impact ejecta cloud for several minutes, before impacting the crater as well. As a cost-capped secondary mission that must accommodate specific LRO launch dates, LCROSS faces unique challenges and constraints that must be carefully reconciled in order to satisfy an ambitious set of science observation requirements. This paper examines driving mission requirements and constraints and describes the trajectory design and navigation strategy that shape the LCROSS mission.

Galal, Ken↗

Dawn: Cooperation, not Control

On September 27, 2007, a Delta II rocket carrying the Dawn spacecraft lifted off from Kennedy Space Center. Part of NASAs Discovery program, the $370 million Dawn mission began its three-billion-mile voyage to the asteroid belt to study the asteroid Vesta and Ceres, a dwarf planet. The spacecraft is scheduled to reach Vesta in 2011. After spending nine months measuring the composition, shape, and topography of that body, it will travel a billion miles to carry out a similar analysis of Ceres in 2015. The Important Lessons: The demands of Dawn and other challenging missions have taught some important lessons for successful program and project management. These are the main ones: a) Program management, particularly of uncoupled and loosely coupled projects, should be more about enabling than controlling. You're working with motivated, high-performing teams and institutions with a track record of quality and success. Emphasize commander's intent over rudder control; let them know where you want to go and when you want to be there, then let them figure out how to get there. b) Open and honest discussion of issues is essential. People fill the void of the unknown with their worst fears. Get folks around the table and have open, honest, and frank dialogue. I've seldom seen this fail to get to the root of issues. c) You have to earn your seat at the table, proving that you are competent, trustworthy, and dedicated to the success of the mission. d) Know when to fold 'em. Your pride can get rolled up in making a milestone or launch date, but you have to make a judgment based on the realities of the situation and not wear down the team trying to meet an increasingly impossible deadline. e) The NASA governance model that gives a voice to the concerns of engineers and safety experts works-trust it and use it.

May, Todd↗

Climate Model Evaluation using New Datasets from the Clouds and the Earth's Radiant Energy System (CERES)

There are some in the science community who believe that the response of the climate system to anthropogenic radiative forcing is unpredictable and we should therefore call off the quest . The key limitation in climate predictability is associated with cloud feedback. Narrowing the uncertainty in cloud feedback (and therefore climate sensitivity) requires optimal use of the best available observations to evaluate and improve climate model processes and constrain climate model simulations over longer time scales. The Clouds and the Earth s Radiant Energy System (CERES) is a satellite-based program that provides global cloud, aerosol and radiative flux observations for improving our understanding of cloud-aerosol-radiation feedbacks in the Earth s climate system. CERES is the successor to the Earth Radiation Budget Experiment (ERBE), which has widely been used to evaluate climate models both at short time scales (e.g., process studies) and at decadal time scales. A CERES instrument flew on the TRMM satellite and captured the dramatic 1998 El Nino, and four other CERES instruments are currently flying aboard the Terra and Aqua platforms. Plans are underway to fly the remaining copy of CERES on the upcoming NPP spacecraft (mid-2010 launch date). Every aspect of CERES represents a significant improvement over ERBE. While both CERES and ERBE measure broadband radiation, CERES calibration is a factor of 2 better than ERBE. In order to improve the characterization of clouds and aerosols within a CERES footprint, we use coincident higher-resolution imager observations (VIRS, MODIS or VIIRS) to provide a consistent cloud-aerosol-radiation dataset at climate accuracy. Improved radiative fluxes are obtained by using new CERES-derived Angular Distribution Models (ADMs) for converting measured radiances to fluxes. CERES radiative fluxes are a factor of 2 more accurate than ERBE overall, but the improvement by cloud type and at high latitudes can be as high as a factor of 5. Diurnal cycles are explicitly resolved by merging geostationary satellite observations with CERES and MODIS. Atmospheric state data are provided from a frozen version of the Global Modeling and Assimilation Office- Data Assimilation System at the NASA Goddard Space Flight Center. In addition to improving the accuracy of top-of-atmosphere (TOA) radiative fluxes, CERES also produces radiative fluxes at the surface and at several levels in the atmosphere using radiative transfer modeling, constrained at the TOA by CERES (ERBE was limited to the TOA). In all, CERES uses 11 instruments on 7 spacecraft all integrated to obtain climate accuracy in TOA to surface fluxes. This presentation will provide an overview of several new CERES datasets of interest to the climate community (including a new adjusted TOA flux dataset constrained by estimates of heat storage in the Earth system), show direct comparisons between CERES ad ERBE, and provide a detailed error analysis of CERES fluxes at various time and space scales. We discuss how observations can be used to reduce uncertainties in cloud feedback and climate sensitivity and strongly argue why we should NOT "call off the quest".

Loeb, Norman G.↗

An Operational Land Imager for the Landsat Data Continuity Mission

The National Aeronautics and Space Administration (NASA) released a request for proposals (RFP) on January 09, 2007 for an Operational Land Imager (OLI). The RFP specified the OLI as the principal sensor for the Landsat Data Continuity Mission (LDCM), the successor mission to Landsat 7. The RFP provides requirements for OLI performance, special calibration tests, and mission assurance without specifying a particular technical design. The performance specifications derive from the heritage and societal benefits of data from the previous Landsat satellites, the high standards set by the performance of the Landsat 7 Enhanced Thematic Mapper-Plus, direction from the Executive Office of the President, cognizance of current technology, and an eye to the future of land remote sensing beyond the LDCM. The specification includes nine spectral bands (four visible, one near infrared, three shortwave infrared, and one panchromatic band), spatial resolution of 30 m with the exception of a 15 m panchromatic resolution, stringent radiometric performance and absolute calibration, and accurate image geolocation with precise band-to-band and multitemporal image-to-image registration. Proposals were due on February 23, 2007 with selection and contract award anticipated by June 2007. The RFP requires delivery of a well-characterized instrument for spacecraft integration within 39 months of contract award. This schedule leads to a target LDCM launch date of July, 2011.

Irons, James R.↗

How Might the Ares V Change the Need for Future Mirror Technology

More Massive Missions do not need to be More Expensive. Simple, robust, low-risk, high-TRL mission is likely to be low cost. It is also likely to be more massive than a complex, high-risk, low TRL mission. The challenge will be to overcome human nature. Launch Date Constrained Missions Cost Less

Stahl, H. Philip↗

Ares I-X Overview - The First Chapter in the Next Great Adventure

Ares I-X is the first flight of NASA's new Constellation Program. Ares I-X is a development test flight to provide engineering data to inform the design of the Ares I prior to CDR. Ares I will replace the Space Shuttle which is scheduled for 2010 retirement . Ares I-X is an uncrewed, sub-orbital development flight test . Ares I-X will provide opportunity to test ground facilities and operations at NASA's Kennedy Space Center. Ares I-X is on track for May 2009 launch date. Objectives include: (1) Demonstrate control of a dynamically similar, integrated Ares I/Orion, using Ares I relevant ascent control algorithms; (2) Perform an in-flight separation/staging event between a Ares I-similar First Stage and a representative Upper Stage; (3) Demonstrate assembly and recovery of a new Ares I-like First Stage element at KSC; (4) Demonstrate First Stage separation sequencing, and quantify First Stage atmospheric entry dynamics, and parachute performance; and (5) Characterize magnitude of integrated vehicle roll torque throughout First Stage flight.

Leahy, Bart↗

The Soil Moisture Active and Passive (SMAP) Mission

The Soil Moisture Active and Passive (SMAP) Mission is one of the first Earth observation satellites being developed by NASA in response to the National Research Council s Decadal Survey. SMAP will make global measurements of the moisture present at Earth's land surface and will distinguish frozen from thawed land surfaces. Direct observations of soil moisture and freeze/thaw state from space will allow significantly improved estimates of water, energy and carbon transfers between land and atmosphere. Soil moisture measurements are also of great importance in assessing flooding and monitoring drought. SMAP observations can help mitigate these natural hazards, resulting in potentially great economic and social benefits. SMAP soil moisture and freeze/thaw timing observations will also reduce a major uncertainty in quantifying the global carbon balance by helping to resolve an apparent missing carbon sink on land over the boreal latitudes. The SMAP mission concept would utilize an L-band radar and radiometer. These instruments will share a rotating 6-meter mesh reflector antenna to provide high-resolution and high-accuracy global maps of soil moisture and freeze/thaw state every two to three days. The SMAP instruments provide direct measurements of surface conditions. In addition, the SMAP project will use these observations with advanced modeling and data assimilation to provide deeper root-zone soil moisture and estimates of land surface-atmosphere exchanges of water, energy and carbon. SMAP is scheduled for a 2014 launch date

Entekhabi, Dara↗

Solutions Network Formulation Report. Aerosol Polarimetry Sensor Measurements of Diffuse-to-Global Irradiance Ratio for Improved Forecasting of Plant Productivity and Health

Studies have shown that vegetation is directly sensitive to changes in the diffuse-to-global irradiance ratio and that increased percentage of diffuse irradiation can accelerate photosynthesis. Therefore, measurements of diffuse versus global irradiance could be useful for monitoring crop productivity and overall vegetative health as they relate to the total amount of particulates in the air that result from natural disasters or anthropogenic (manmade) causes. While the components of solar irradiance are measured by satellite and surface sensors and calculated with atmospheric models, disagreement exists between the results, creating a need for more accurate and comprehensive retrievals of atmospheric aerosol parameters. Two satellite sensors--APS and VIIRS--show promise for retrieving aerosol properties at an unprecedented level of accuracy. APS is expected to be launched in December 2008. The planned launch date for VIIRS onboard NPP is September 2009. Identified partners include the USDA s ARS, North Carolina State University, Purdue Climate Change Research Center, and the Cooperative Institute for Research in the Atmosphere at Colorado State University. Although at present no formal DSSs (decision support systems) require accurate values of diffuse-to-global irradiance, this parameter is sufficiently important that models are being developed that will incorporate these measurements. This candidate solution is aligned with the Agricultural Efficiency and Air Quality National Applications.

Knowlton, Kelly↗

Engineering a Successful Mission: Lessons from the Lunar Reconnaissance Orbiter

Schedule pressure is common in the commercial world, where late delivery of a product means delayed income and loss of profit. 12 Research spacecraft developed by NASA, on the other hand, tend to be driven by the high cost of launch vehicles and the public scrutiny of failure-- the primary driver is ensuring proper operation in space for a system that cannot be retrieved for repair. The Lunar Reconnaissance Orbiter (LRO) development faced both schedule pressure and high visibility. The team had to balance the strong push to meet a launch date against the need to ensure that this first mission for Exploration succeeded. This paper will provide an overview of the mission from concept through its first year of operation and explore some of the challenges the systems engineering team faced taking a mission from preliminary design review to pre-ship review in 3 years.

Everett, David F.↗

A Deterministic Electron, Photon, Proton and Heavy Ion Radiation Transport Suite for the Study of the Jovian System

A deterministic suite of radiation transport codes, developed at NASA Langley Research Center (LaRC), which describe the transport of electrons, photons, protons, and heavy ions in condensed media is used to simulate exposures from spectral distributions typical of electrons, protons and carbon-oxygen-sulfur (C-O-S) trapped heavy ions in the Jovian radiation environment. The particle transport suite consists of a coupled electron and photon deterministic transport algorithm (CEPTRN) and a coupled light particle and heavy ion deterministic transport algorithm (HZETRN). The primary purpose for the development of the transport suite is to provide a means for the spacecraft design community to rapidly perform numerous repetitive calculations essential for electron, proton and heavy ion radiation exposure assessments in complex space structures. In this paper, the radiation environment of the Galilean satellite Europa is used as a representative boundary condition to show the capabilities of the transport suite. While the transport suite can directly access the output electron spectra of the Jovian environment as generated by the Jet Propulsion Laboratory (JPL) Galileo Interim Radiation Electron (GIRE) model of 2003; for the sake of relevance to the upcoming Europa Jupiter System Mission (EJSM), the 105 days at Europa mission fluence energy spectra provided by JPL is used to produce the corresponding dose-depth curve in silicon behind an aluminum shield of 100 mils ( 0.7 g/sq cm). The transport suite can also accept ray-traced thickness files from a computer-aided design (CAD) package and calculate the total ionizing dose (TID) at a specific target point. In that regard, using a low-fidelity CAD model of the Galileo probe, the transport suite was verified by comparing with Monte Carlo (MC) simulations for orbits JOI--J35 of the Galileo extended mission (1996-2001). For the upcoming EJSM mission with a potential launch date of 2020, the transport suite is used to compute the traditional aluminum-silicon dose-depth calculation as a standard shield-target combination output, as well as the shielding response of high charge (Z) shields such as tantalum (Ta). Finally, a shield optimization algorithm is used to guide the instrument designer with the choice of graded-Z shield analysis.

Norman, Ryan B.↗

INTEGRITY - Integrated Human Exploration Mission Simulation Facility

It is proposed to develop a high-fidelity ground facility to carry out long-duration human exploration mission simulations. These would not be merely computer simulations - they would in fact comprise a series of actual missions that just happen to stay on earth. These missions would include all elements of an actual mission, using actual technologies that would be used for the real mission. These missions would also include such elements as extravehicular activities, robotic systems, telepresence and teleoperation, surface drilling technology-all using a simulated planetary landscape. A sequence of missions would be defined that get progressively longer and more robust, perhaps a series of five or six missions over a span of 10 to 15 years ranging in duration from 180 days up to 1000 days. This high-fidelity ground facility would operate hand-in-hand with a host of other terrestrial analog sites such as the Antarctic, Haughton Crater, and the Arizona desert. Of course, all of these analog mission simulations will be conducted here on earth in 1-g, and NASA will still need the Shuttle and ISS to carry out all the microgravity and hypogravity science experiments and technology validations. The proposed missions would have sufficient definition such that definitive requirements could be derived from them to serve as direction for all the program elements of the mission. Additionally, specific milestones would be established for the "launch" date of each mission so that R&D programs would have both good requirements and solid milestones from which to .build their implementation plans. Mission aspects that could not be directly incorporated into the ground facility would be simulated via software. New management techniques would be developed for evaluation in this ground test facility program. These new techniques would have embedded metrics which would allow them to be continuously evaluated and adjusted so that by the time the sequence of missions is completed, the best management techniques will have been developed, implemented, and validated. A trained cadre of managers experienced with a large, complex program would then be available.

Henninger, Donald L.↗

On Simulating the Impacts of Open Water Bodies on the SMAP Passive Soil Moisture Data Product

The Soil Moisture Active and Passive (SMAP) mission is a NASA earth science mission aiming at improving our understanding of the dynamics of the cycles of energy, water, and carbon at global scales. The mission features two complementary sensors on the same low-Earth orbiting platform: an L-band synthetic aperture radar (SAR) operating at 1.26 GHz and an L-band radiometer operating at 1.41 GHz. Together these instruments will provide global mapping of soil moisture and freeze/thaw states in 2-3 days, with a tentative launch date in 2014. The work reported in this study focuses primarily on the development of the SMAP radiometer-only soil moisture data product. For passive soil moisture retrieval at satellite footprint scales, one way to improve retrieval accuracy is to correct for the microwave emission from open water bodies prior to retrieval. The accuracy of this correction will depend on not only the locations of these water bodies, but also the geolocation accuracy of the instrument. As perfect knowledge is never attainable in practice, it is important to assess the impacts of these uncertainties on the SMAP radiometer observations and hence the passive soil moisture retrieval accuracy. In this presentation, we present the results of our preliminary assessment on the impacts of these uncertainties. Our study consists of two parts: (1) a sensitivity analysis on the SMAP radiometer observations due to uncertainties in water-body classification, and (2) realistic global simulations that take into account of additional uncertainties (e.g., geolocation and ancillary data) and SMAP-specific instrument characteristics (e.g., orbit sampling and antenna pattern). The results will provide valuable prelaunch guidance to the SMAP team in identifying different error sources and their relative impacts on the passive soil moisture data product.

Chan, Steven↗

Benefits of Power and Propulsion Technology for a Piloted Electric Vehicle to an Asteroid

NASA's goal for human spaceflight is to expand permanent human presence beyond low Earth orbit (LEO). NASA is identifying potential missions and technologies needed to achieve this goal. Mission options include crewed destinations to LEO and the International Space Station; high Earth orbit and geosynchronous orbit; cis-lunar space, lunar orbit, and the surface of the Moon; near-Earth objects; and the moons of Mars, Mars orbit, and the surface of Mars. NASA generated a series of design reference missions to drive out required functions and capabilities for these destinations, focusing first on a piloted mission to a near-Earth asteroid. One conclusion from this exercise was that a solar electric propulsion stage could reduce mission cost by reducing the required number of heavy lift launches and could increase mission reliability by providing a robust architecture for the long-duration crewed mission. Similarly, solar electric vehicles were identified as critical for missions to Mars, including orbiting Mars, landing on its surface, and visiting its moons. This paper describes the parameterized assessment of power and propulsion technologies for a piloted solar electric vehicle to a near-Earth asteroid. The objective of the assessment was to determine technology drivers to advance the state of the art of electric propulsion systems for human exploration. Sensitivity analyses on the performance characteristics of the propulsion and power systems were done to determine potential system-level impacts of improved technology. Starting with a "reasonable vehicle configuration" bounded by an assumed launch date, we introduced technology improvements to determine the system-level benefits (if any) that those technologies might provide. The results of this assessment are discussed and recommendations for future work are described.

Mercer, Carolyn R.↗

MW-Class Electric Propulsion System Designs

Electric propulsion systems are well developed and have been in commercial use for several years. Ion and Hall thrusters have propelled robotic spacecraft to encounters with asteroids, the Moon, and minor planetary bodies within the solar system, while higher power systems are being considered to support even more demanding future space science and exploration missions. Such missions may include orbit raising and station-keeping for large platforms, robotic and human missions to near earth asteroids, cargo transport for sustained lunar or Mars exploration, and at very high-power, fast piloted missions to Mars and the outer planets. The Advanced In-Space Propulsion Project, High Efficiency Space Power Systems Project, and High Power Electric Propulsion Demonstration Project were established within the NASA Exploration Technology Development and Demonstration Program to develop and advance the fundamental technologies required for these long-range, future exploration missions. Under the auspices of the High Efficiency Space Power Systems Project, and supported by the Advanced In-Space Propulsion and High Power Electric Propulsion Projects, the COMPASS design team at the NASA Glenn Research Center performed multiple parametric design analyses to determine solar and nuclear electric power technology requirements for representative 300-kW class and pulsed and steady-state MW-class electric propulsion systems. This paper describes the results of the MW-class electric power and propulsion design analysis. Starting with the representative MW-class vehicle configurations, and using design reference missions bounded by launch dates, several power system technology improvements were introduced into the parametric COMPASS simulations to determine the potential system level benefits such technologies might provide. Those technologies providing quantitative system level benefits were then assessed for technical feasibility, cost, and time to develop. Key assumptions and primary results of the COMPASS MW-class electric propulsion power system study are reported, and discussion is provided on how the analysis might be used to guide future technology investments as NASA moves to more capable high power in-space propulsion systems.

LaPointe, Michael R.↗

Building a Metric

Launch Services Program is a Kennedy Space Center based program whose job it is to undertake all the necessary roles required to successfully launch Expendable Launch Vehicles. This project was designed to help Launch Services Program accurately report how successful they have been at launching missions on time or +/- 2 days from the scheduled launch date and also if they weren't successful, why. This information will be displayed in the form of a metric, which answers these questions in a clear and accurate way.

Spencer, Shakira↗

Benefits of Power and Propulsion Technology for a Piloted Electric Vehicle to an Asteroid

NASA s goal for human spaceflight is to expand permanent human presence beyond low Earth orbit (LEO). NASA is identifying potential missions and technologies needed to achieve this goal. Mission options include crewed destinations to LEO and the International Space Station; high Earth orbit and geosynchronous orbit; cis-lunar space, lunar orbit, and the surface of the Moon; near-Earth objects; and the moons of Mars, Mars orbit, and the surface of Mars. NASA generated a series of design reference missions to drive out required functions and capabilities for these destinations, focusing first on a piloted mission to a near-Earth asteroid. One conclusion from this exercise was that a solar electric propulsion stage could reduce mission cost by reducing the required number of heavy lift launches and could increase mission reliability by providing a robust architecture for the long-duration crewed mission. Similarly, solar electric vehicles were identified as critical for missions to Mars, including orbiting Mars, landing on its surface, and visiting its moons. This paper describes the parameterized assessment of power and propulsion technologies for a piloted solar electric vehicle to a near-Earth asteroid. The objective of the assessment was to determine technology drivers to advance the state of the art of electric propulsion systems for human exploration. Sensitivity analyses on the performance characteristics of the propulsion and power systems were done to determine potential system-level impacts of improved technology. Starting with a "reasonable vehicle configuration" bounded by an assumed launch date, we introduced technology improvements to determine the system-level benefits (if any) that those technologies might provide. The results of this assessment are discussed and recommendations for future work are described.

Mercer, Carolyn R.↗

Small Solar Electric Propulsion Spacecraft Concept for Near Earth Object and Inner Solar System Missions

Near Earth Objects (NEOs) and other primitive bodies are exciting targets for exploration. Not only do they provide clues to the early formation of the universe, but they also are potential resources for manned exploration as well as provide information about potential Earth hazards. As a step toward exploration outside Earth's sphere of influence, NASA is considering manned exploration to Near Earth Asteroids (NEAs), however hazard characterization of a target is important before embarking on such an undertaking. A small Solar Electric Propulsion (SEP) spacecraft would be ideally suited for this type of mission due to the high delta-V requirements, variety of potential targets and locations, and the solar energy available in the inner solar system.Spacecraft and mission trades have been performed to develop a robust spacecraft design that utilizes low cost, off-the-shelf components that could accommodate a suite of different scientific payloads for NEO characterization. Mission concepts such as multiple spacecraft each rendezvousing with different NEOs, single spacecraft rendezvousing with separate NEOs, NEO landers, as well as other inner solar system applications (Mars telecom orbiter) have been evaluated. Secondary launch opportunities using the Expendable Secondary Payload Adapter (ESPA) Grande launch adapter with unconstrained launch dates have also been examined.

Solar Electric Propulsion (SEP)↗