Ground Mobility Systems for Planetary Exploration
This paper surveys past and current designs of surface mobility systems for planetary exploration robots developed at JPL/Caltech.
planetary↗
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Types of Information Expected from a Photometric Search for Extra-Solar Planets
The current theory postulates that planets are a consequence of the formation of stars from viscous accretion disks. Condensation from the hotter, inner portion of the accretion disk favors the formation of small rocky planets in the inner portion and the formation of gas giants in the cuter, cooler part. Consequently, terrestrial-type planets in inner orbits must be commonplace (Wetheril 1991). From the geometry of the situation (Borucki and Summers 1984), it can be shown that 1% of those planetary systems that resemble our solar system should show transits for Earth-sized (or larger) planets. Thus a photometric satellite that uses a wide field of view telescope and a large CCD array to simultaneously monitor 5000 target stars should detect 50 planetary systems. To verify that regularly recurring transits are occurring rather than statistical fluctuations of the stellar flux, demands observations that extend over several orbital periods so that the constancy of the orbital period, signal amplitude, and duration can be measured. Therefore, to examine the region from Mercury's orbit to that of the Earth requires a duration of three years whereas a search out to the orbit of mars requires about six years. The results of the observations should provide estimates of the distributions of planetary size and orbital radius, and the frequency of planetary systems that have Earth-sized planets in inner orbits. Because approximately one half of the star systems observed will be binary systems, the frequency of planetary systems orbit ' ing either one or both of the stars can also be determined. Furthermore, the complexity of the photometric signature of a planet transiting a pair of stars provides enough information to estimate the eccentricities of the planetary orbits. In summary, the statistical evidence from a photometric search of solar-like stars should be able to either confirm or deny the applicability of the current theory of planet formation and provide new information about the stability of planetary orbits in binary star systems.
Borucki, William↗
Computing Needs for Astrobiology: Models of Planetary Formation
Theories of planet formation indicate that a diverse range of physical and chemical processes determine the characteristics of a planetary system. Extensive numerical modeling is required to understand how planetary systems form, and to make quantitative assessments of the factors which determine the masses, spacings and volatile compound inventories of planets and small bodies within a planetary system. Fluid flow problems associated with the formation and evolution of protoplanetary disks include specific local calculations to provide physical insight, which are best performed on workstations, and large multifaceted simulations which require supercomputers with large memories. Formation and early growth of planetesimals display a similar range of computational requirements. Modeling the late stages of planetary accumulation is very CPU intensive, as it requires following a simple system of approx. hundreds of bodies for millions of dynamical (orbital) times. These varied computational needs could be met in the most cost-effective manner by a diverse set of computers, including workstations for individual PI's and dedicated time on various types of supercomputers which are specialized for differing tasks.
Lissauer, Jack J.↗
An Automated Sample Processing System for Planetary Exploration
An Automated Sample Processing System (ASPS) for wet chemistry processing of organic materials on the surface of Mars has been jointly developed by Ball Aerospace and the Jet Propulsion Laboratory. The mechanism has been built and tested to demonstrate TRL level 4. This paper describes the function of the system, mechanism design, lessons learned, and several challenges that were overcome.
traditional mechanical components↗
Dynamic Response of a Planetary Gear System Using a Finite Element/Contact Mechanics Model
The dynamic response of a helicopter planetary gear system is examined over a wide range of operating speeds and torques. The analysis tool is a unique, semianalytical finite element formulation that admits precise representation of the tooth geometry and contact forces that are crucial in gear dynamics. Importantly, no a priori specification of static transmission error excitation or mesh frequency variation is required; the dynamic contact forces are evaluated internally at each time step. The calculated response shows classical resonances when a harmonic of mesh frequency coincides with a natural frequency. However, peculiar behavior occurs where resonances expected to be excited at a given speed are absent. This absence of particular modes is explained by analytical relationships that depend on the planetary configuration and mesh frequency harmonic. The torque sensitivity of the dynamic response is examined and compared to static analyses. Rotation mode response is shown to be more sensitive to input torque than translational mode response.
Parker, Robert G.↗
Technology status of a fluorine-hydrazine propulsion system for planetary spacecraft
The basic technology exists and a system integration program is well underway to allow incorporation of a fluorine-hydrazine propulsion system into future spacecraft required for unmanned planetary missions. These spacecraft would be inserted in earth orbit using the Space Transportation System Shuttle and given its initial sendoff by the Inertial Upper Stage (IUS). The design of a typical propulsion system, assessment of thermal and structural impacts on a selected spacecraft and comparative studies with conventional propulsion systems have been completed. A major part of the current JPL Program involves assembly of a 3650 N thrust demonstration system using titanium tanks, flight weight components and structure. This system will be used to demonstrate the state-of-the-art throughout a representative flight system's qualification.
Bond, D. L.↗
FRESIP: A Discovery Mission Concept To Find Earth-Sized Planets Around Solar Like Stars
The current nebular theory postulates that planets are. a consequence of the formation of stars from viscous accretion disks. Condensation from the accretion disk favors the formation of small rocky planets in the hot inner region, and the formation of gas giants in the cool outer region. Consequently, terrestrial-type planet in inner orbits should be commonplace. From geometrical considerations , Borucki and Summers have shown that 1% of planetary systems resembling our solar system should show transits for Earth-sized (or larger) planets. Thus a photometric satellite that uses a wide field of view telescope and a large detector array to simultaneously monitor 5000 target stars should detect 50 planetary systems. To differentiate regularly recurring transits from statistical fluctuations of the stellar flux, one must observe over several orbital periods so that the false positive rate can be reduced to one event or less. A one-meter aperture telescope placed in a halo orbit about either the L1 or L2 Lagrange points and viewing perpendicular to both the orbital and ecliptic planes can view continuously for the required period because neither the Sun, Earth, or Moon would enter the field of view. Model calculations show that the observations should provide statistically significant estimates of the distributions of planetary size, orbital radius, coplanarity, and the frequency of planetary systems that have Earth-sized planets in inner orbits. Because approximately one half of the star systems observed will be binary systems, the frequency of planetary systems orbiting either one or both of the stars can also be determined.
Borucki, William↗
Analysis of a Landing System for Planetary Payloads Utilizing Passive Energy Absorbing Composite Structure
Delivery of a payload from space to a planetary surface currently requires the development of an application specific landing system to protect the payload from forces imparted during impact with the planet surface. Often, active energy attenuating systems such as retro-rockets, deployable parachutes, and airbags are utilized within these landing systems to reduce landing impact energy. Unfortunately, these active systems come at a cost; active energy attenuating systems are susceptible to system faults which may limit or completely negate their energy attenuating capability. Additionally, components needing to be stowed such as fuel, parachutes, and airbags increase design complexity, cost, and weight. To overcome these limitations, this study examines the potential of passive energy attenuation through energy absorbing structural design and composite materials to mitigate landing loads for small payload planetary delivery. Researchers at the National Aeronautics and Space Administration (NASA) Langley Research Center (LaRC) have conducted extensive research into developing energy absorbing structures and components for the attenuation of impact energy under various loading conditions including aircraft crash and spacecraft impact. The current study leverages this research to design a lightweight planetary delivery system which utilizes unique outer mold line (OML) geometry and passive energy absorbing structural design to limit landing loads across potential planetary surface environments. The OML geometry is designed to control impact orientation and provide self-righting capabilities for slopped impact surfaces. The internal structure is composed of composite material structures arranged to provide energy absorption which is robust to impact angle and impact velocity. The developed planetary delivery design concept will be evaluated using finite element (FE) model analysis. Simulations of landing impacts with representative soil surface environments will be used to characterize the energy absorbing capabilities of the landing system. Sensitivity of predicted impact force to landing environment, impact angle, and impact velocity will be assessed to identify capabilities and limitations of the initial structural design. Results will be used to determine the feasibility of a lightweight composite structure to passively absorb landing energy for robust planetary payload delivery.
Crashworthiness↗
Width of a planetary ring system and the C-ring of Saturn
The growth of particles in a planetary ring system is considered with reference to the C-ring of Saturn. Small particles arising from various sources collide with and temporarily adhere to larger particles, and the paper presents a mathematical analysis of the conditions under which the small particles will stay long enough on the surface of the larger ones so that a permanent bond will develop. It is initially assumed that the only force acting between the particles is gravitational attraction, and upper and lower limits for the width of a planetary ring are determined. The effects of van der Waals forces are then considered.
Smoluchowski, R.↗
Recommendations for Technology Development and Validation Activities in Support of the Origins Program
The Office of Space Science (OSS) has initiated mission concept studies and associated technology roadmapping activities for future large space optical systems. The scientific motivation for these systems is the study of the origins of galaxies, stars, planetary systems and, ultimately, life. Collectively, these studies are part of the 'Astronomical Search for Origins and Planetary Systems Program' or 'Origins Program'. A series of at least three science missions and associated technology validation flights is currently envisioned in the time frame between the year 1999 and approximately 2020. These would be the Space Interferometry Mission (SIM), a 10-meter baseline Michelson stellar interferometer; the Next Generation Space Telescope (NGST), a space-based infrared optimized telescope with aperture diameter larger than four meters; and the Terrestrial Planet Finder (TPF), an 80-meter baseline-nulling Michelson interferometer described in the Exploration of Neighboring Planetary Systems (ExNPS) Study. While all of these missions include significant technological challenges, preliminary studies indicate that the technological requirements are achievable. However, immediate and aggressive technology development is needed. The Office of Space Access and Technology (OSAT) is the primary sponsor of NASA-unique technology for missions such as the Origins series. For some time, the OSAT Space Technology Program has been developing technologies for large space optical systems, including both interferometers and large-aperture telescopes. In addition, technology investments have been made by other NASA programs, including OSS; other government agencies, particularly the Department of Defense; and by the aerospace industrial community. This basis of prior technology investment provides much of the rationale for confidence in the feasibility of the advanced Origins missions. In response to the enhanced interest of both the user community and senior NASA management in large space optics, OSAT is moving to improve the focus of its sensor, spacecraft, and interferometer/telescope technology programs on the specific additional needs of the OSS Origins Program. To better define Origins mission technology and facilitate its development, OSAT and OSS called for a series of workshops with broad participation from industry, academia and the national laboratory community to address these issues. Responsibility for workshop implementation was assigned jointly to the two NASA field centers with primary Origins mission responsibility, the Goddard Space Flight Center and the Jet Propulsion Laboratory. The Origins Technology Workshop, held at Dana Point, California between June 4 and 6, 1996 was the first in the series of comprehensive workshops aimed at addressing the broad technological needs of the Origins Program. It was attended by 64 individuals selected to provide technical expertise relevant to the technology challenges of the Origins missions. This report summarizes the results of that meeting. A higher level executive summary was considered inappropriate because of the potential loss of important context for the recommendations. Subsequent to the Origins Technology Workshop and prior to publication of this report, NASA Headquarters reorganized the activities of the Of fice of Space Access and Technology. It appears likely that responsibility for the technology programs recommended in this document will move to the Office of Space Science.
Capps, Richard W.↗
Cryogenic Hydrogen Oxygen Propulsion System for Planetary Science Missions
A Cryogenic Hydrogen Oxygen Propulsion System (CHOPS) that uses liquid hydrogen (LH2) and liquid oxygen (LO2) propellants can dramatically enhance NASA's ability to explore the solar system due to their superior specific impulse (Isp) capability. Although these cryogenic propellants can be challenging to manage and store, they allow significant mass advantages over traditional hypergolic propulsion systems and are therefore enabling for many planetary science missions. New cryogenic storage techniques such as subcooling, advanced insulation, low thermal conductivity structures allow for the long term storage and use of cryogenic propellants for solar system exploration and hence allow NASA to deliver more payloads to targets of interest, launch on smaller and less expensive launch vehicles, or both.
Mustafi, Shouvanik↗
The Planetary Data System - A Case Study in the Development and Management of Meta-Data for a Scientific Digital Library
The Planetary Data System (PDS) is an active science data archive managed by scientists for NASA's planetary science community. With the advent of the World Wide Web the majority of the archive has been placed on-line as a science digital libraty for access by scientists, the educational community, and the general public.
Data System Meta-data scientific digital library↗
An Assessment of Dust Effects on Planetary Surface Systems to Support Exploration Requirements
Apollo astronauts learned first hand how problems with dust impact lunar surface missions. After three days, lunar dust contamination on EVA suit bearings led to such great difficulty in movement that another EVA would not have been possible. Dust clinging to EVA suits was transported into the Lunar Module. During the return trip to Earth, when micro gravity was reestablished, the dust became airborne and floated through the cabin. Crews inhaled the dust and it irritated their eyes. Some mechanical systems aboard the spacecraft were damaged due to dust contamination. Study results obtained by Robotic Martian missions indicate that Martian surface soil is oxidative and reactive. Exposures to the reactive Martian dust will pose an even greater concern to the crew health and the integrity of the mechanical systems. As NASA embarks on planetary surface missions to support its Exploration Vision, the effects of these extraterrestrial dusts must be well understood and systems must be designed to operate reliably and protect the crew in the dusty environments of the Moon and Mars. The AIM Dust Assessment Team was tasked to identify systems that will be affected by the respective dust, how they will be affected, associated risks of dust exposure, requirements that will need to be developed, identified knowledge gaps, and recommended scientific measurements to obtain information needed to develop requirements, and design and manufacture the surface systems that will support crew habitation in the lunar and Martian outposts.
Wagner, Sandy↗
Operation of the Planetary Plasma Interactions Node of the Planetary Data System
Five years ago NASA selected the Planetary Plasma Interactions (PPI) Node at UCLA to help the scientific community locate, access and preserve particles and fields data from planetary missions. We propose to continue to serve for 5 more years. During the first five years we have served the scientific community by providing them with high quality data products. We worked with missions and individual scientists to secure the highest quality data possible and to thoroughly document it. We validated the data, placed it on long lasting media and made sure it was properly archived for future use. So far we have prepared and archived over 10(exp 11) bytes of data from 26 instruments on 4 spacecraft. We have produced 106 CD-ROMs with peer reviewed data. In so doing, we have developed an efficient system to prepare and archive the data and thereby have been able to steadily increase the rate at which the data are produced. Although we produced a substantial archive during the initial five years, we have an even larger amount of work in progress. This includes preparing CD-ROM data sets with all of the Voyager, Pioneer and Ulysses data at Jupiter and Saturn. We will have the Jupiter data ready for the Galileo encounter in December, 1995. We are also completing the Pioneer Venus data restoration. The Galileo Venus archive and radio science data from Magellan will be prepared early in the next period. We are assisting the Small Bodies Node of PDS in the preparation of comet data and will be archiving the asteroid data from Galileo. We will be moving in several new directions as well. We will archive the PPI Node's first Earth based data with data from the International Jupiter Watch and Hubble data taken in support of Ulysses particles and field observations. We will work with the Cassini mission in archive planning efforts. For the inner planets we will begin an archive of Mars data starting with Phobos data and will support the US and Russian Mars missions in the late 1990's. We will restore the Mercury data from Mariner 10 and prepare the lunar data from Clementine in time for the lunar data analysis program in 1995. We will work with the Discovery mission teams to plan their archive and have already started with one, NEAR. Finally we will begin archiving our first heliospheric data from Voyager, Galileo, and Mars observers. We will continue to serve the science community by providing access to the data products. During the past 19 months we have filled nearly 6000 requests for on-line and CD-ROM data. The data delivered directly by the PPI Node has been - 5 x 10(exp 11) bytes. In addition to providing the data, we have provided users with software tools to manage and read the data which are computer, operating system and format independent. We have developed scalable systems so that the same software we use to manage and access the data for the entire PPI Node can be used by individual investigators to manage the data on a single CD-ROM, thereby greatly reducing the software development effort for both the PPI Node and users. We deliver this software with the disks. Recent technical advances have made it possible for us to serve a broader community than before. In the next five year period we plan to extend our outreach to the general public and in particular to increase our support for education. Since planetary plasma data are varied and require expertise in many areas the PPI Node will continue to be distributed. In addition to the primary node at UCLA, the PPI Node has three subnodes with an Outer Planets Subnode at the University of Iowa, an Inner Planets Subnode at UCLA, and a Radio Science Subnode at Stanford University. During the first two years of the renewal period there will be a Radio Astronomy Data Node at GSFC. These organizations will provide scientific expertise on the data, participate in node data selection activities and help with data restoration and mission activities.
Walker, Raymond J.↗
Which stars have planets?
The question of predicting which stars have planetary systems is discussed, with special attention given to the work of Nakano (1988), who combined scaling arguments with his theory (Nakano, 1987) of formation of planets in the solar system to estimate planetary growth rates around stars of various masses. It is argued that, in addition to stellar mass, the process of planet formation depends on other parameters, such as angular momentum and collisions. The existence of binary and multiple star systems of varying type demonstrates that angular momentum variations can play a crucial role, while the fact that the solar system has four giant planets and four terrestrial planets is considered to be due to the effects of random impacts and scatterings. It is concluded that, at present, the concept of determining what types of planetary systems are to be expected about stars of varying masses cannot be resolved.
Lissauer, J. J.↗
Combined Structural and Trajectory Control of Variable-Geometry Planetary Entry Systems
Some of the key challenges of planetary entry are to dissipate the large kinetic energy of the entry vehicle and to land with precision. Past missions to Mars were based on unguided entry, where entry vehicles carried payloads of less than 0.6 T and landed within 100 km of the designated target. The Mars Science Laboratory (MSL) is expected to carry a mass of almost 1 T to within 20 km of the target site. Guided lifting entry is needed to meet these higher deceleration and targeting demands. If the aerodynamic characteristics of the decelerator are variable during flight, more trajectory options are possible, and can be tailored to specific mission requirements. In addition to the entry trajectory modulation, having variable aerodynamic properties will also favor maneuvering of the vehicle prior to descent. For proper supersonic parachute deployment, the vehicle needs to turn to a lower angle of attack. One approach to entry trajectory improvement and angle of attack control is to embed a variable geometry decelerator in the design of the vehicle. Variation in geometry enables the vehicle to adjust its aerodynamic performance continuously without additional fuel cost because only electric power is needed for actuating the mechanisms that control the shape change. Novel structural and control concepts have been developed that enable the decelerator to undergo variation in geometry. Changing the aerodynamic characteristics of a flight vehicle by active means can potentially provide a mechanically simple, affordable, and enabling solution for entry, descent, and landing across a wide range of mission types, sample capture and return, and reentry to Earth, Titan, Venus, or Mars. Unguided ballistic entry is not sufficient to meet this more stringent deceleration, heating, and targeting demands. Two structural concepts for implementing the cone angle variation, a segmented shell, and a corrugated shell, have been presented.
Quadrelli, Marco B.↗
3D Additive Construction with Regolith for Surface Systems
Planetary surface exploration on Asteroids, the Moon, Mars and Martian Moons will require the stabilization of loose, fine, dusty regolith to avoid the effects of vertical lander rocket plume impingement, to keep abrasive and harmful dust from getting lofted and for dust free operations. In addition, the same regolith stabilization process can be used for 3 Dimensional ( 3D) printing, additive construction techniques by repeating the 2D stabilization in many vertical layers. This will allow in-situ construction with regolith so that materials will not have to be transported from Earth. Recent work in the NASA Kennedy Space Center (KSC) Surface Systems Office (NE-S) Swamp Works and at the University of Southern California (USC) under two NASA Innovative Advanced Concept (NIAC) awards have shown promising results with regolith (crushed basalt rock) materials for in-situ heat shields, bricks, landing/launch pads, berms, roads, and other structures that could be fabricated using regolith that is sintered or mixed with a polymer binder. The technical goals and objectives of this project are to prove the feasibility of 3D printing additive construction using planetary regolith simulants and to show that they have structural integrity and practical applications in space exploration.
Technology Portfolio System↗
Planet Formation
Modern theories of star and planet formation and of the orbital stability of planetary systems are described and used to discuss possible characteristics of undiscovered planetary systems. The most detailed models of planetary growth are based upon observations of planets and smaller bodies within our own Solar System and of young stars and their environments. Terrestrial planets are believed to grow via pairwise accretion until the spacing of planetary orbits becomes large enough that the configuration is stable for the age of the system. Giant planets begin their growth as do terrestrial planets, but they become massive enough that they are able to accumulate substantial amounts of gas before the protoplanetary disk dissipates. These models predict that rocky planets should form in orbit about most single stars. It is uncertain whether or not gas giant planet formation is common, because most protoplanetary disks may dissipate before solid planetary cores can grow large enough to gravitationally trap substantial quantities of gas. A potential hazard to planetary systems is radial decay of planetary orbits resulting from interactions with material within the disk. Planets more massive than Earth have the potential to decay the fastest, and may be able to sweep up smaller planets in their path. The implications of the giant planets found in recent radial velocity searches for the abundances of habitable planets are discussed, and the methods that are being used and planned for detecting and characterizing extrasolar planets are reviewed.
Lissauer, Jack J.↗