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NASA NTRSDate not supplied

Autonomous Ocean World Exploration: Advancement of a Virtual Testbed

The search for life (extinct or extant) and potentially habitable bodies in our solar system and beyond is one of the 12 priority science questions outlined in the National Acadamies’ 2022 decadal survey [5]. Extraterrestrial destinations containing liquid water present an opportunity to search for life as we know it, and in recent years an increasing number of such locations have been discovered within our solar system. Several Jovian moons—Europa, Ganymede, and Callisto [10]—and the Saturnian moons Enceladus [8] and Titan [9] are known or suspected to harbor massive subsurface oceans. Of these "ocean worlds", Europa is the focus of at least one planned NASA orbiter mission, Europa Clipper [4], and an early lander mission concept, the Europa Lander [2, 3]. Whereas most robotic missions to the Moon and Mars (e.g. orbiters, rovers, landers) to date have had ground controllers on Earth tightly involved in mission operations, missions to more distant worlds will require a high degree of onboard autonomy due to long communication lags and blackouts, harsh environments (radiation, cold), and more limited battery and hardware life. The past decade has seen great advances in both AI technologies and computing scalability and performance that offer promising solutions for spacecraft autonomy and motivate the software system and research programs described in this paper. The Ocean Worlds Autonomy Testbed for Exploration, Research, and Simulation (OceanWATERS) [1], which has been in development at the NASA Ames Research Center since 2018, is a virtual environment for testing lander autonomy solutions. It is built on the Robot Operating System (ROS), runs on consumer-grade Linux workstations, and was released as open source in 2020. OceanWATERS provides a physical and visual simulation of a prototypical lander in a Europa-like environment (Figure 1). The lander was modeled after requirements and specifications made in JPL’s Europa Lander Study of 2016 [3]. Simulated lander systems include stereo cameras and spotlights mounted on an antenna mast that pans and tilts, a 6 degrees of freedom (DoF) robotic arm with a force-torque sensor and two interchangeable end effectors, and a battery pack power system. The environment consists of multiple terrain models including a highly detailed model sourced from the FROST dataset [11], simulation of surrounding planetary bodies based on an ephemeris model, and lighting from the sun with associated surface illumination, reflectance, and shadows. Operations supported by OceanWATERS include panoramic and directed imaging of the environment and lander workspace, Cartesian and joint-level arm commanding, grinding of the terrain surface (e.g. digging a trench), and scooping of ground material (Figure 2) which can be discarded or collected as science samples in a receptacle that can be emptied (science operations themselves are not simulated). These operations are realized as ROS Actions and are complimented by a wide selection of telemetry that is continually produced by each lander subsystem. The power system model is driven by the open-source Generic Software Architecture for Prognostics (GSAP) [11] that predicts the battery’s remaining useful life and other characteristics. As a testbed for high-level autonomy, OceanWATERS provides an execution framework based on PLEXIL [12], an open-source plan specification language and execution engine developed largely at Ames. NASA's initial development of OceanWATERS, as well the Ocean Worlds Lander Autonomy Testbed (OWLAT) [6], a complimentary physical testbed developed at JPL, was the first step in a plan for realizing candidate onboard autonomy solutions for such planetary landers. In 2020 NASA solicited applications for its Autonomous Robotics Research for Ocean Worlds (ARROW) program, and in 2021 the similar Concepts for Ocean worlds Life Detection Technology (COLDTech) program. Collectively six research teams, based in universities and companies across the United States, were awarded grants to develop and demonstrate autonomy solutions on OceanWATERS and OWLAT. These 1–2-year projects have now finished or are nearing completion, and a wide variety of autonomy challenges in ocean world surface missions were addressed. Prototyped and demonstrated solutions have included autonomous discovery, response and adaptation to system faults and unexpected environmental events, world model synthesis through perception, plan synthesis using learned models, methods to optimize sample target selection and prioritize science data transmission, extension of PLEXIL for stochastic decision-making, and an integration of a model of JPL’s mission-ready COLDArm [7]. Technologies used in these projects include many forms of machine learning, causal reasoning, automated planning, Markov decision processes, formal methods, and other advanced techniques. A more detailed summary of the ARROW and COLDTech projects is given herein. OceanWATERS has had significant enhancements since its open-source release in 2020. Many of its new features were driven or shaped by feedback from the ARROW and COLDTech teams and requirements of their projects. In support of enabling autonomous adaptation to spacecraft faults (a specific capability solicited by both programs), a fault injection and detection framework was developed that supports a wide and growing range of fault types such as locked joints, image loss, and battery failures. The power system model was completed and integrated into the simulator, starting as a single-cell battery model and later upgraded to a multi-cell model with associated faults such as cell disconnection. Arm/terrain interaction was improved by adding a force-torque sensor and associated faults, and an analytic dig force model based on the Balovnev bucket force equations. Environment fidelity was increased by modeling terrain deformation resulting from digging and scooping; visual improvements were made in textures, lighting, and shadows. To facilitate interoperation with OWLAT, a unified command and telemetry interface between the testbeds was developed at the ROS level, along with a PLEXIL interface. The number of lander operations was greatly expanded (e.g. with Cartesian-based arm and antenna movement), and a framework was designed for users to build their own lander actions. A GUI for PLEXIL plan selection was created (Figure 3), and an expansive set of plans were added, such as those that illustrate patterns for fault handling. This paper provides a self-contained high-level description of OceanWATERS, focusing on more detailed coverage of the aforementioned enhancements. It provides a high-level summary of the projects undertaken by participants in the ARROW and COLDTech programs and how these efforts have helped shape OceanWATERS. Finally, potential future work and directions for the testbed are listed, as likely informed by the recent planetary science decadal survey [5].

K Michael Dalal↗
NASA NTRSDate not supplied

Using Coordinated, Multi-Agent Platforms for Dynamic Ocean Worlds Science

Planetary science missions have the opportunity to enhance science return through deployment of autonomous capabilities designed to dynamically respond to new information. Future outer solar system missions to ocean worlds in particular would benefit from this technology - intelligent science payloads (ISP) - because it would allow for a coordinated, near real-time response to ephemeral ‘events’ such as plumes, tectonism, surface implantation, volatile releases, thermal and magnetic anomalies, or radiation, as well as increasing the cadence and coverage of data collection. Prioritization and decision-making frameworks from ISP could be deployed at various scales - from analysis onboard a spacecraft with multiple instruments – to coordinated analyses among separate spacecraft in an e.g., distributed systems mission (DSM) composed of multiple SmallSats. Goddard’s Intelligent Science Payload team is developing an agile autonomous architecture for an icy ocean worlds DSM concept. Our goals are to coordinate data collection and onboard data analysis, and to make autonomous decisions for new data collection and analysis based on science priorities between multiple spacecraft with variable instrumentation and orbits. We use a range of data analysis tools to coordinate the DSM response, spanning from observations of data over a specified threshold to more computationally intensive machine learning algorithms (ML). ML algorithms here currently focus on determining the composition of an ocean world using mass spectrometry, and specifically methods for understanding ‘novelties’ and potential biosignatures. These algorithms could be used to quickly process and analyze onboard data that would be significantly delayed in downlink due to long communication delays for outer solar system missions in order to make dynamic science observations. Our ocean worlds case study ISP architecture is intended as an ‘agile’ and modular framework that could be used as a whole or as particular modules based on mission needs.

Distributed Systems↗
NASA NTRSDate not supplied

Autonomous Ocean World Exploration: Advancement of a Software Testbed

The search for life signs and potentially habitable bodies in our solar system and beyond is one of NASA’s top priorities. The prime destinations for such exploration are bodies containing liquid water, such as Jupiter’s moon Europa and Saturn’s moon Enceladus. Initial missions to these “ocean worlds” will be robotic, and because of long communication lags and blackouts, harsh environments, and limited battery life, a high degree of onboard autonomy will be required. To this end NASA has developed the Ocean Worlds Autonomy Testbed for Exploration, Research, and Simulation (OceanWATERS), a software testbed for surface mission autonomy. Under grants from NASA’s Autonomous Robotics Research for Ocean Worlds (ARROW) and Concepts for Ocean worlds Life Detection Technology (COLDTech) programs, collectively 6 research teams at universities and companies across the United States have developed autonomy solutions using OceanWATERS, tackling a variety of surface mission challenges and employing state-of-the-art AI-based solutions. This paper provides a self-contained high-level description of OceanWATERS while detailing enhancements made since its 2020 release. It provides a high-level summary of the projects undertaken by participants in the ARROW and COLDTech programs and how these efforts have helped shape OceanWATERS. Finally, potential future work and directions for the testbed are listed.

K Michael Dalal↗
NASA NTRS2022

Science Autonomy for Ocean Worlds Astrobiology: A Perspective

Astrobiology missions to ocean worlds in our solar system must overcome both scientific and technological challenges due to extreme temperature and radiation conditions, long communication times, and limited bandwidth. While such tools could not replace ground-based analysis by science and engineering teams, machine learning algorithms could enhance the science return of these missions through development of autonomous science capabilities. Examples of science autonomy include onboard data analysis and subsequent instrument optimization, data prioritization (for transmission), and real-time decision-making based on data analysis. Similar advances could be made to develop streamlined data processing software for rapid ground-based analyses. Here we discuss several ways machine learning and autonomy could be used for astrobiology missions, including landing site selection, prioritization and targeting of samples, classification of “features” (e.g., proposed biosignatures) and novelties (uncharacterized, “new” features, which may be of most interest to agnostic astrobiological investigations), and data transmission.

ocean worlds↗
NASA NTRSDate not supplied

Predicting the Seawater Chemistry of an Ocean World Using Machine Learning on Isotopic Measurements of Volatile CO2

Introduction: Given the long time intervals required for data transmission to and from ocean worlds targets, low bandwidth for data transmission, time required for data processing and analysis, and potentially extreme radiation environments (e.g., Europa), it is clear that ocean worlds missions will need more autonomous flight instruments and software in order to achieve established science goals. Protracted time intervals for data analysis (e.g., Europa Lander) strongly motivates the development of rapid, consistent and streamlined methods for interpreting data from flight mass spectrometers to e.g., determine how mass spectra from a plume or surface liquid/ice relates to the surface/subsurface. Since mass spectrometry also has the potential to correctly identify biosignatures[1], it is imperative that such methods for interpreting data are consistent and accurate. We used 848 isotope ratio mass spectra from laboratory analyses of CO2 that interacted with ocean worlds-relevant seawaters as a ‘training’ dataset for ‘unsupervised’ machine learning. In unsupervised learning, characteristics of the data are not labeled or linked, and any similarities found only result from the neural network. CO2 isotopologues analyzed for this dataset mimic the remote measurements of CO2 by a flight mass spectrometer, and are detailed in Theiling [2]. From this dataset, we used measured features of the spectra, such as retention time, intensity, and (isotopologue) mass ratios as inputs for our autoencoder neural network. Our neural network was trained to find similarities in these and other spectral features for seawaters of a particular composition and amount of initial CO2. Successful training then created an output of these similarities for various seawaters, which included MgSO4, Na2SO4, NaCl, MgCl2, KCl, and NaHCO3, and combinations of these salts. We then applied dimensionality reduction techniques such as Principal Component Analysis (PCA), T-Distributed Stochastic Neighbor Embedding (TSNE), and Uniform Manifold Approximation and Projection (UMAP) to demonstrate latent data features as a two-dimensional projection in a unitless, high-dimensional space. In this projection, a data point represents the combined effect of spectral features such as intensity, retention time, and isotope ratio. Our initial UMAP demonstrates data clustering (organization of the data by the neural network) based on the amount of CO2 that had initially interacted with each seawater. Further training using more ‘supervised’ learning techniques demonstrate strong clustering of preliminary data based on initial CO2 concentration, seawater chemical composition, and ionic strength (salinity). Our preliminary work therefore suggests that machine learning has the potential to identify compositional variants of an ocean world seawater based on mass spectra from volatile CO2 measurements. Acknowledgments: This work was funded through a Strategic Task Group at NASA Goddard Space Flight Center. The training dataset was collected through funding from the Oklahoma Space Grant Consortium. References: [1] Pappalardo, R. et al. (2013) Astrobiology, 13, 740–773. [2] Theiling (2020) Icarus, 114216.

Europa↗
NASA NTRS2024

Effect of the Liquid-Vacuum Transition on the Relative Abundances of Amino and Fatty Acids Sought as Biosignatures on Icy Ocean Worlds

Interpreting measurements by robotic missions searching for signs of life in material erupted by cryovolcanic ocean worlds (e.g., Enceladus, Europa, Ceres) requires linking the composition of this material to that of its subsurface liquid source. Irrespective of the properties of –and processes along– the path of ejection, material erupted on airless worlds undergoes a transition from liquid to vacuum. Here, we investigate experimentally the effect of a direct transition from liquid to vacuum environments on the relative abundances of amino and carboxylic (fatty) acids, a metric used to distinguish between biological and abiotic sources for these compounds. Amino acids were dissolved in parent solutions prepared with 1 wt.% NaCl and pH 9–10 to match properties inferred from Enceladus plume grains. Compositional analysis of the dry solids resulting from the injection of this solution into vacuum indicates a < 50% change in amino acid abundances relative to glycine. Injection of two fatty acids, phenylacetic acid (soluble and undersaturated in the parent solution) and palmitic acid (insoluble and supersaturated) resulted in a change of less than a factor of 7 in their relative abundances. At this bulk scale (all grains aggregated together), proportions of amino and fatty acids were sufficiently conserved to allow distinction between end-member example biological and abiotic sources. We did not find strong correlations between the relative enrichment or depletion of amino or fatty acids with molecular properties such as molecular mass, hydrophobicity, functionality, or charge, other than high under-or supersaturation. Most of the organic residue was deposited along the experimental injection path, which suggests that cryovolcanic conduit walls on icy ocean worlds may be enriched in organic material relative to material having undergone the liquid-vacuum transition.

Amino acids↗
NASA NTRSDate not supplied

NASA Science Technology Development Programs for Ocean Worlds Exploration

The exploration of icy satellites such as Europa and Enceladus supports NASA’s goal to search for life and potentially habitable regions elsewhere in the universe, and further promises to help us understand the origins, evolution, and limits of life on Earth. Over the past several years, NASA’s Planetary Science Division has funded several technology development programs to enable future surface and subsurface missions to ocean worlds. These programs include Instrument Concepts for Europa Exploration (ICEE), Concepts for Ocean Worlds Life Detection Technology (COLDTech), Scientific Exploration Subsurface Access Mechanism for Europa (SESAME), Applied Information Systems Research: Autonomous Robotics Research for Ocean Worlds (AISR:ARROW), and Astrodynamics in Support of Icy Worlds Missions. Tasks selected under these programs include the development of scientific instruments including seismometers, imagers, spectrometers, and organic analyzers, and also platform technologies including drills, melt probes, through-ice communications, radiation-hard electronics, and autonomy for surface operations. This paper describes the objectives of each of these programs and provides a summary of the work that has been completed or is underway in each.

science instruments↗
NASA NTRSDate not supplied

Microscopy Methods for Life Detection on Ocean Worlds

On Earth, light microscopy is commonly used in microbiology to identify organisms and observe their interactions with the environment; this makes it an attractive technique for in situ life detection methods on ocean worlds. As a standalone technique, brightfield microscopy, while able to provide important contextual information, has limited usefulness as a life detection technique because it is often challenging to differentiate between abiotic and biotic particles based solely on their size and shape, which may introduce risks of false positive or false negative interpretations. However, these risks can be reduced by combining brightfield microscopy with fluorescence microscopy to provide a method that correlate sample chemistry with sample morphology. In this work, we have used the Luminescence Imager for Exploration (LIfE), a brightfield and epifluorescence microscope with an integrated sample processing system (matured under the Concepts for Ocean worlds Life Detection Technology and Instrument Concepts of Europa Exploration programs) to develop methods that increase the fidelity of in situ microscopy life detection measurements through two main approaches. First, native fluorescence is excited in molecules that contain aromatic moieties such as proteins (using deep UV excitation), and energy carrying molecules and endogenous chromophores (using visible-light excitation), to correlate the location of these species with cell-like structural features (brightfield imaging). Second, fluorescent stains are used to selectively image cells and cell fragments by targeting proteins, lipids, and nucleic acids. We discuss the results of tests, obtained using ocean world analog samples, that have examined trades associated with implementing these methods autonomously in planetary missions, including the intrinsic properties of candidate fluorescence dyes and long-term storage and radiation stability.

Pavel E. Z. Klier↗
NASA NTRSDate not supplied

Microscopy Methods for Life Detection on Ocean Worlds

On Earth, light microscopy is commonly used in microbiology to identify organisms and observe their interactions with the environment; this makes it an attractive technique for in situ life detection methods on ocean worlds. As a standalone technique, brightfield microscopy, while able to provide important contextual information, has limited usefulness as a life detection technique because it is often challenging to differentiate between abiotic and biotic particles based solely on their size and shape, which may introduce risks of false positive or false negative interpretations. However, these risks can be reduced by combining brightfield microscopy with fluorescence microscopy to provide a method that correlate sample chemistry with sample morphology. In this work, we have used the Luminescence Imager for Exploration (LIfE), a brightfield and epifluorescence microscope with an integrated sample processing system (matured under the Concepts for Ocean worlds Life Detection Technology and Instrument Concepts of Europa Exploration programs) to develop methods that increase the fidelity of in situ microscopy life detection measurements through two main approaches. First, native fluorescence is excited in molecules that contain aromatic moieties such as proteins (using deep UV excitation), and energy carrying molecules and endogenous chromophores (using visible-light excitation), to correlate the location of these species with cell-like structural features (brightfield imaging). Second, fluorescent stains are used to selectively image cells and cell fragments by targeting proteins, lipids, and nucleic acids. We discuss the results of tests, obtained using ocean world analog samples, that have examined trades associated with implementing these methods autonomously in planetary missions, including the intrinsic properties of candidate fluorescence dyes and long-term storage and radiation stability.

Pavel E Z Klier↗
NASA NTRSDate not supplied

Sample Processor for Life on Icy Worlds (SPLIce): Monolithic Manifold-Based System to Recover, Prepare, and Deliver Samples and Standards to Instrumentation Suites for Ocean World Life-Search Missions

A claim of life detection on one of the solar system’s icy ocean worlds would necessitate extraordinarily convincing evidence. Limited energy availability in the oceans of such bodies as Europa and Enceladus argues for microbes as most probable among possible life forms, but evidence of their existence in the surface layers of an icy moon or in a frozen plume ejected into space could take various forms, pointing to instrumentation suites as a preferred means to detect diverse molecular and morphological life indicators. Multiple disparate categories of positive detections could provide truly convincing evidence from samples that may be only a few micro-liters. SPLIce’s Foundation. Teams led by NASA’s Ames Research Center have developed and operated numerous small, live-biology and astrobiology science payloads in space over two decades. Since 2016, we have adapted and augmented their biological sample-handling systems to create compact, robust search-for-life fluidic processors designed to function after a decade or more in transit, in environments with very little gravity and lots of radiation: up to 100’s of kilorads.

Instrumentation suite↗
NASA NTRS2019

Tensegrity ocean world landers

This paper explores the use of tensegrity structures as an end-to-end solution for descent, landing, and maneuvering through various depths of ocean worlds within the solar system. Ocean worlds are described as planetary bodies within the solar system that contain liquid bodies. They are key in the search for extra-terrestrial life and may provide insight into the development of the solar system. In this work, specific attention is paid to the exploration of the surface lakes of Titan. Analysis, test data, and literature review is used to validate aspects of this mission concept.

Woodmansee, Anna C.↗
NASA NTRS2019

SPARROW: Steam Propelled Autonomous Retrieval Robot for Ocean Worlds

The Steam Propelled Autonomous Retrieval Robot (SPARROW) for Ocean Worlds was a Phase I mission concept study funded under the NASA NIAC program. This report represents the findings of that study and recommendations for future work. SPARROW, envisioned as a soccer ball-sized payload to a primary lander mission, is a propulsively hopping robot for the exploration of Europa's rugged, icy surface. A multi-thruster, passively gimballed robot within a protective, spherical shell, SPARROW is able to freely rotate, self-right, and tumble over chaotic terrains. Europa's abundant surface ice would be harvested as an in situ propellant source. The principal objective of SPARROW is to increase the science return of a Europa landed asset by enabling access to distal, spatially distributed geologic units. The design of mobility systems for Europa is challenging, due in part to its almost entirely unconstrained surface topography and strength. Images returned by Voyager and Galileo yielded resolutions on the order of hundreds of meters per pixel, with localized regions reaching 6 meters per pixel—still far larger than a typical rover. A key benefit of SPARROW's hopping, impact-tolerant design, is that it eliminates the need for a priori information regarding terrain topography and surface strength; no surface reaction forces are required for motion. In this context, SPARROW is believed to be entirely terrain agnostic. In this report we detail the results of three study objectives: i) to quantify the energy required to collect surface ice, change its phase, and maintain propellant temperature, ii) to identify control and estimation strategies that enable SPARROW to successfully reach, and return from, regions of scientific interest, and iii) to characterize the impact of SPARROW's range on likely science return. Five water-based propellant architectures are presented alongside their mass, power, and volume requirements. Monte Carlo simulations of SPARROW hopping and tumbling over 1 km of glacial ice are summarized, characterizing SPARROW's sensitivity to uncertainty in: initial pose, thrust profile, and vehicle-terrain interaction. A science traceability matrix is presented, which details the effect of sortie range on three science goals: constraining Europa's evolutionary morphology, assessing sub-surface ocean habitability, and searching for life and/or biosignatures.

Autonomous↗
NASA NTRS2020

Innovative Thermal Management & Control to Surmount Challenges of Exploring Ocean Worlds on Europa and Enceladus

Probes to penetrate the thick ice shells of our solar system’s Ocean Worlds have been studied for nearly 20 years, since scientific evidence strongly suggested a subsurface ocean on the Jupiter moon called Europa. There is keen scientific interest in exploring four significant themes on such proposed missions: 1) Geodynamics, 2) Geochemistry, 3) Habitability, and 4) Life Detection. The ice shells of Ocean Worlds are predicted to be up to 40 km thick; they exhibit extreme thermal environments, with ice temperatures from 100 K to 270 K, and extreme pressure environments from vacuum to 53 MPa. Jet Propulsion Laboratory has conducted a broad-look investigation of proposed mission concepts to Europa to identify the significant technology and operational challenges of Europa ice-penetration. The thermal-mechanical system (TMS) of an ice penetration probe (IPP) designed to access the ocean of an icy moon using radioisotope thermoelectric generators for heat and power faces technological hurdles exacerbated by severe thermal and volume constraints. This study identified thermal management and control (TMC) challenges that are strongly linked to: ice penetration start-up, mobility and navigation in the ice, communications while in the ice sheet, and detecting and avoiding in-ice hazards. The major objectives of the TMC system are: 1) Absorb internal thermal energy from the IPP radioisotope power source, 2) Maintain liquid water conditions around the IPP at all times, 3) Manage and control thermal flows from probe nose to tail, and 4) Provide pressure containment for all internal probe components. This work discusses the baseline TMC system architecture and design developed to accomplish these objectives, and survive and transit the extreme ice thicknesses in pursuit of Icy/Ocean Worlds science goals. The proposed TMC system consisting of an internal pumped two-phase fluid loop “thermal bus” for thermal energy capture, variable conductance heat pipe system for passively adaptive thermal energy transport around the probe, and water jetting system for ice cutting is described and discussed. Critical testing performed to date is described.

Lee, Kuan-Lin↗
NASA NTRS2020

Forecasting Rates of Volcanic Activity on Terrestrial Exoplanets and Implications for Cryovolcanic Activity on Extrasolar Ocean Worlds

Like the planets and moons in our solar system, the surfaces of terrestrial exoplanets may be shaped by volcanic activity. The magnitudes and rates of volcanic activity on terrestrial exoplanets will be intimately linked to their sizes and internal heating rates and can either facilitate or preclude the existence of habitable environments. In order to place bounds on the potential for such activity, we estimate total internal heating rates for 53 exoplanets with masses and radii up to∼8M⊕and 2R⊕, respectively, assuming that internal heating is drawn from both radiogenic and tidal sources. We then compare these internal heating rates to those of the planets and moons in our solar system in an attempt to constrain the expected rates of volcanic activity on these extrasolar worlds. We find that all 53 of the exoplanets surveyed are likely to have volcanic activity at their surfaces, and that at least 26% of these planets may be extrasolar ocean worlds. The majority of these ocean worlds may be similar in structure to the icy moons of the giant planets, having internal oceans beneath layers of surface ice. If so, these planets may exhibit cryovolcanism (i.e., icy volcanism)at their surfaces. Recent studies have shown that extrasolar volcanism could be detected by high-resolution spectrographs on existing ground-based telescopes. In the case of planets with densities and/or effective temperatures that are consistent with H2O-rich compositions, spectral identification of excess water vapor and other molecules that are explosively vented into space during cryovolcanic eruptions could serve as a way to infer the presence of subsurface oceans, and therefore indirectly assess their habitability. Considering the implications for habitability, our results suggest that continued characterization of terrestrial exoplanets in terms of their potential for volcanic activity should be a priority in the coming years.

Lynnae C Quick↗
NASA NTRS2004

World Ocean Circulation Experiment (WOCE) Young Investigator Workshops

The World Ocean Circulation Experiment (WOCE) Young Investigator Workshops goals and objectives are: a) to familiarize Young Investigators with WOCE models, datasets and estimation procedures; b) to offer intensive hands-on exposure to these models ard methods; c) to build collaborations among junior scientists and more senior WOCE investigators; and finally, d) to generate ideas and projects leading to fundable WOCE synthesis projects. To achieve these goals and objectives, the Workshop will offer a mixture of tutorial lectures on numerical models and estimation procedures, advanced seminars on current WOCE synthesis activities and related projects, and the opportunity to conduct small projects which put into practice the techniques advanced in the lectures.

Austin, Meg↗
NASA NTRS2022

Planetary protection assessment of radioisotope thermoelectric generator (RTG)-powered landed missions to ocean worlds: application to Enceladus

Landed missions to icy worlds with a subsurface liquid water ocean must meet planetary protection requirements, and ensure a sufficiently small likelihood of any microorganism-bearing part of the landed element reaching the ocean. A higher bound on this likelihood is set by the potential for radioisotope thermoelectric generator (RTG) power sources, the hottest possible landed element, to melt through the ice shell and reach the ocean. Here, we quantify this potential as a function of three key parameters: surface temperature, ice shell thickness (i.e., heat flux through the shell), and thickness of a porous (insulating) snow or regolith cover. Although the model we describe can be applied to any ocean world, we present results in the context of a landed mission concept to the south polar terrain of Saturn’s moon Enceladus. In this particular context, we discuss planetary protection considerations for landing site selection. The likelihood of forward microbial contamination of Enceladus’ ocean by an RTG-powered landed mission can be made sufficiently low to not undermine compliance with planetary protection policy.

Marc Neveu↗
NASA NTRS2023

Salt Distribution from Freezing Intrusions in Ice Shells on Ocean Worlds: Application to Europa

Several icy moons and dwarf planets appear to have hosted subsurface liquid water. Liquid water intruding upwards into the icy outer shells of these worlds freezes, forming ice and (from ocean solutes) non-ice solids. Here, we model concentrated aqueous solutions below 273 K to simulate the compositional evolution of freezing spherical intrusions. Starting solutions are based on five previously reported compositional end members for Europa's ocean. For moderate-pH end members dominated by chloride, sulfate, and/or carbonate, the solids formed include Ca-, Mg-, and Na-sulfates and -carbonates, as well as Na- and K-chlorides. For silica-rich, high-pH end members, abundant amorphous silica forms with, potentially, similarly abundant NaOH and KOH. We further develop a new numerical model to compute the spatial distribution of the formed solids and residual brine as freezing progresses. If non-ice solids settle to the bottom, their deposits tend to have stacked hourglass shapes, widening each time the crystallization temperature of a new solid is reached. We discuss the applicability of this model to vertical fractures and global freezing of a subsurface ocean. These results inform (i) how compositional heterogeneities may affect the thermophysical properties of ice shells, which in turn influence convective and cryovolcanic transport, (ii) the compatibility of brine pockets with physicochemical conditions suitable for microbial life, and (iii) possible measurements of compositional heterogeneities within ice shells by spacecraft such as NASA's Europa Clipper and ESA's JUICE missions. The methodology developed here is applicable to other ice-covered ocean worlds.

Planetary structure↗
NASA NTRS1985

Geographic variation in the relationships of temperature, salinity or sigma sub t versus plant nutrient concentrations in the world ocean

A NODC data set representing all regions of the world ocean was analyzed for temperature and sigma-t relationships with nitrate, phosphate or silicic acid. Six cubic regressions were for each ten degree square of latitude and longitude containing adequate data. World maps display the locations that allow the prediction of plant nutrient concentrations from temperature or sigma-t. Geographic coverage improves along the sequence: nitrate, phosphate, and silicic acid and is better for sigma-t than for temperature. Contour maps of the approximate temperature of sigma-t at which these nitrients are no longer measurable in a parcel of water are generated, based on a percentile analysis of the temperature or sigma-t at which less than a selected amount of plant nutrient occurs. Results are stored on magnetic tape in tabular form. The global potential to predict plant nutrient concentrations from remotely sensed temperature of sigma-t and to emphasize the latitudinally and longitudinally changing phytoplankton growth environment in present and past oceans is demonstrated.

Kamykowski, D.↗