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NASA NTRS2000

Flight Validation of Mars Mission Technologies

Effective exploration and characterization of Mars will require the deployment of numerous surface probes, tethered balloon stations and free-flying balloon systems as well as larger landers and orbiting satellite systems. Since launch opportunities exist approximately every two years it is extremely critical that each and every mission maximize its potential for success. This will require significant testing of each system in an environment that simulates the actual operational environment as closely as possible. Analytical techniques and laboratory testing goes a long way in mitigating the inherent risks associated with space exploration, however they fall sort of accurately simulating the unpredictable operational environment in which these systems must function.

Eberspeaker, P. J.↗

NASA NTRS2005

Electrodynamic Tether as a Thruster for MXER Studies

Electrodynamic propulsion based on the interaction of a conducting tether with the background magnetic field can be implemented across a range of system designs. Bare tethers, bare and insulated tethers with a balloon termination, and insulated tethers with a grid-sphere termination have been proposed for different applications. Electrodynamic tether as a thruster is currently proposed for the Momentum exchange Electrodynamic Reboost (MXER) Tether System that currently under development at NASA Marshal Space Flight Center. The choice of a tether design for a specific mission is based on the analysis of tether system performance. Different parameters describing tether performance such as system acceleration and efficiency can be calculated if the current distribution along the tether at the satellite trajectory is known. The code calculating the tether current collection for the bare and partly insulated tethers with the circular (wire) and rectangular (tape) cross-sections operating in the thrust mode has been developed and applied for MXER that is expected to operate in an equatorial elliptical orbit with perigee in the altitude range of 300-500km and apogee between 5000-8000km. The collected current is calculated as a function of the satellite velocity and the Earth s magnetic field, plasma parameters (plasma density and temperature), and tether parameters (tether length, the length of the bare segment, the type and the dimensions of the cross-section). The deviation of the collected current from the OML model due to the tether thickness and self-induced magnetic field (for tether with a circular cross-section) is taken into account.

Khazanov, G. V.↗

NASA NTRS2000

TMBM: Tethered Micro-Balloons on Mars

The use of balloons/aerobots on Mars has been under consideration for many years. Concepts include deployment during entry into the atmosphere from a carrier spacecraft, deployment from a lander, use of super-pressurized systems for long duration flights, 'hot-air' systems, etc. Principal advantages include the ability to obtain high-resolution data of the surface because balloons provide a low-altitude platform which moves relatively slowly. Work conducted within the last few years has removed many of the technical difficulties encountered in deployment and operation of balloons/aerobots on Mars. The concept proposed here (a tethered balloon released from a lander) uses a relatively simple approach which would enable aspects of Martian balloons to be tested while providing useful and potentially unique science results. Tethered Micro-Balloons on Mars (TMBM) would be carried to Mars on board a future lander as a stand-alone experiment having a total mass of one to two kilograms. It would consist of a helium balloon of up to 50 cubic meters that is inflated after landing and initially tethered to the lander. Its primary instrumentation would be a camera that would be carried to an altitude of up to tens of meters above the surface. Imaging data would be transmitted to the lander for inclusion in the mission data stream. The tether would be released in stages allowing different resolutions and coverage. In addition during this staged release a lander camera system may observe the motion of the balloon at various heights above he lander. Under some scenarios upon completion of the primary phase of TMBM operations, the tether would be cut, allowing TMBM to drift away from the landing site, during which images would be taken along the ground.

Sims, M. H.↗

NASA NTRS2002

WOBBLE: A Proposed Mission to Characterize Past and Present Water on Mars

WOBBLE ("Water Observations from a Balloon Borne Light Explorer") is a mission concept study for a small robotic probe to explore Mars and to accomplish a scientific mission compatible with the goals of the NASA Code S enterprise. The detection of past or present water is a crucial goal for Mars exploration, representing a cross-cutting science theme relevant to past or extant life, climate history, sample return missions and eventual human exploration. The WOBBLE mission concept was developed to study evidence of water using in-situ detection methods. The features on Mars most suited to this investigation are the gullies identified by Malin and Edgett as evidence for recent, near-surface runoff of liquid water. These features are typically located on the inside face of crater rims, where the local slope angle is at or near the angle of repose. This makes the terrain difficult or impossible to access with conventional wheeled rover technology. Combined with the small size of the gullies in relation to a standard landing error ellipse, scientific investigation of these features requires a new approach to surface mobility. WOBBLE uses a low-altitude balloon-borne platform to traverse the surface from the landing site, to the investigation site, and then rise up the slope to investigate the regions of interest at close range. Of the mobility technologies available for near-term Mars exploration, only a balloon platform is capable of a well targeted, detailed sampling of the gully regions over periods of days or more. The science approach embodied in WOBBLE is two-pronged, designed to investigate both the historical evidence of liquid water utilizing high-resolution geomorphology and the characterization of mineral deposits, and present subsurface liquid water using radar sounding techniques. The WOBBLE balloon is a high-pressure hydrogen gas design, 24 meters in diameter and lifting a total payload of 130 kg, including a high-resolution camera/IR imager, Raman spectrometer, and a ground penetrating radar (GPR) sounder. The stowed balloon and payload are designed to fit within the current airbag delivery system being built for the Mars Exploration Rovers. Characterization of local meteorological conditions and wind is made over the initial sols following landing and before balloon inflation. Following balloon inflation and launch, a controlled, targeted approach toward the identified regions of interest is made in a series of several low-altitude "hops," with the balloon tethered to the ground between the hop intervals. A "snake" system is used to control the altitude to a few tens of meters above the local ground level. Enroute to the target gully, GPR soundings and Raman spectroscopy measurements study past or present water, while continued camera bearings and meteorological measurements refine the next "hop" trajectory. Once at the gully/outflow region, GPR and Raman soundings continue while the camera obtains detailed, approx. 0.5 cm images for geomorphology studies. The WOBBLE concept is applicable to Mars Scout, Mars Surveyor, or Discovery class missions.

Udrea, Bogdan↗

NASA NTRS1990

Analysis of tethered balloon data from San Nicolas Island on 8 July 1987

Analysis of the 8 July 1987 (Julian Day 189) tethered balloon flight from San Nicolas Island is summarized. The flight commenced at about 14:30 UTC (7:30 Pacific Daylight Time) and lasted six and one-half hours. The position of the Colorado State University (CSU) instrument package as a function of time is shown. For the purpose of presentation of results, researchers divided the flight into 13 legs. These legs consist of 20 minute constant level runs, with the exception of leg 1, which is a sounding from the surface to just above 930 mb. The laser ceilometer record of cloud base is also shown. The cloud base averaged around 970 mb during much of the flight but was more variable near the end. Before the tethered balloon flight commenced, a Communications Link Analysis and Simulation System (CLASS) sounding was released at 12:11 UTC (5:11 PDT). Temperature and moisture data below 927 mb for this sounding is shown. The sounding indicates a cloud top around 955 mb at this time.

Cox, Stephen K.↗

NASA NTRS1975

Interagency Workshop on Lighter than Air Vehicles, Monterey, Calif., September 9-13, 1974, Proceedings

Papers are presented which review modern lighter-than-air (LTA) airship design concepts and LTA structures and materials technology, as well as perform economic and market analyses for assessment of the viability of future LTA development programs. Potential applications of LTA vehicles are examined. Some of the topics covered include preliminary estimates of operating costs for LTA transports, an economic comparison of three heavy lift airborn systems, boundary layer control for airships, computer aided flexible envelope designs, state-of-the-art of metalclad airships, aspects of hybrid-Zeppelins, the LTA vehicle as a total cargo system, unmanned powered balloons, and a practical concept for powered or tethered weight-lifting LTA vehicles. Individual items are announced in this issue.

Vittek, J. F., Jr.↗

NASA NTRS2009

Tethered Pyrotechnic Apparatus for Acquiring a Ground Sample

A proposed alternative design for the balloon-borne ground-sampling system described in the immediately preceding article would not rely on free fall to drive a harpoonlike sample-collecting device into the ground. Instead, the harpoon-like sample-collecting device would be a pyrotechnically driven, tethered projectile. The apparatus would include a tripod that would be tethered to the gondola. A gun for shooting the projectile into the ground would be mounted at the apex of the tripod. The gun would include an electronic trigger circuit, a chamber at the breech end containing a pyrotechnic charge, and a barrel. A sabot would be placed in the barrel just below the pyrotechnic charge, and the tethered projectile would be placed in the barrel just below the sabot. The tripod feet would be equipped with contact sensors connected to the trigger circuit. In operation, the tripod would be lowered to the ground on its tether. Once contact with the ground was detected by the sensors on all three tripod feet, the trigger circuit would fire the pyrotechnic charge to drive the projectile into the ground. (Requiring contact among all three tripod feet and the ground would ensure that the projectile would be fired into the ground, rather than up toward the gondola or the balloon.) The tethered projectile would then be reeled back up to the gondola for analysis of the sample.

Jones, Jack↗

NASA NTRS1985

A new reeling technique for very long extension scanning in the stratosphere

A balloon-borne winching system has been developed for extending a very long tether with payload down into the stratosphere and recovering it, this has been flight proven by being carrried to an altitude of 40 km, lowering a 62-kg stratospheric photochemistry experiment 12 km at a descent velocity of about 6-8 m/sec and recovering it at comparable velocities. During the first flight, the data gave no evidence of dynamic instabilities due to the system or the stratospheric interactions. The future utility of this payload is discussed with attention to the design factors that bound the range of performance of this type of system.

Hazen, N. L.↗

NASA NTRS1979

Balloon concepts for scientific investigation of Mars and Jupiter

Opportunities for scientific investigation of the atmospheric planets using buoyant balloons have been explored. Mars and Jupiter were considered in this study because design requirements at those planets bracket nominally the requirements at Venus, and plans are already underway for a joint Russian-French balloon system at Venus. Viking data has provided quantitative information for definition of specific balloon systems at Mars. Free flying balloons appear capable of providing valuable scientific support for more sophisticated Martian surface probes, but tethered and powered aerostats are not attractive. The Jovian environment is so extreme, hot atmosphere balloons may be the only scientific platforms capable of extended operations there. However, the estimated system mass and thermal energy required are very large.

Ash, R. L.↗

NASA NTRS2009

NASA Tech Briefs, August 2009

Topics covered include: Aligning a Receiving Antenna Array to Reduce Interference; Collecting Ground Samples for Balloon-Borne Instruments; Tethered Pyrotechnic Apparatus for Acquiring a Ground Sample; Enhanced Video-Oculography System; Joint Carrier-Phase Synchronization and LDPC Decoding; Dual-Polarization, Sideband-Separating, Balanced Receiver for 1.5 THz Modular Battery Charge Controller; Efficient Multiplexer FPGA Block Structures Based on G4FETs; VLSI Microsystem for Rapid Bioinformatic Pattern Recognition; Low-Noise Amplifier for 100 to 180 GHz; Improved Fabrication of Ceramic Matrix Composite/Foam Core Integrated Structures; Inert Welding/Brazing Gas Filters and Dryers; Fabricating Copper Nanotubes by Electrodeposition; Reducing Aerodynamic Drag on Empty Open Cargo Vehicles; Rotary Percussive Auto-Gopher for Deep Drilling and Sampling; More About Reconfigurable Exploratory Robotic Vehicles; Thermostatic Valves Containing Silicone-Oil Actuators; Improving Heat Flux Performance of Flat Surface in Spray-Cooling Systems; Treating Fibrous Insulation to Reduce Thermal Conductivity; Silica-Aerogel Composites Opacified with La(sub0.7)Sr(sub0.3)MnO3; Cyclic Oxidation Behavior of CuCrAl Cold-Sprayed Coatings for Reusable Launch Vehicles; Ceramic Fiber Structures for Cryogenic Load-Bearing Applications; Elastomer Reinforced with Carbon Nanotubes; Biologically Inspired Purification and Dispersion of SWCNTs; A Technique for Adjusting Eigenfrequencies of WGM Resonators; Low-Pressure, Field-Ionizing Mass Spectrometer; Modifying Operating Cycles to Increase Stability in a LITS; Chamber for Simulating Martian and Terrestrial Environments; Algorithm for Detecting a Bright Spot in an Image; Extreme Programming: Maestro Style; Adaptive Behavior for Mobile Robots; Protocol for Communication Networking for Formation Flying; Planning Complex Sequences Using Compressed Representations; and Self-Supervised Learning of Terrain Traversability from Proprioceptive Sensors.

Source record↗

NASA NTRS1991

The detection of the electric field vertical distribution underneath thundercloud: Principle and applications

During the Florida 89 experiment at Kennedy Space Center, a new system was used in order to obtain the vertical distribution of the electric field underneath thunderstorms. It consists of a standard shutter field mill at ground level and five other field sensors suspended from a cable fastened to a tethered balloon located at an altitude of about 1000 meters. It also includes a reception station for telemetered information transmitted by sensors, a processing system in order to store data, and real time display on a screen to show the simultaneous field variations at each level along with the instantaneous electric field profile. The first results obtained show the great importance of the electric field vertical distribution. The field detected at a height of 600m reaches 65 kV/m while that at the surface does not exceed 5 kV/m. The field intensity in altitude is a better criterion for determining the right moment to launch a rocket devoted to flash triggering. Using Gauss's law, the simultaneous field variations at several levels are used in order to evaluate charge densities. Average values close to 1nC.m(-3) are calculated in layers up to 600 m. The calculation of different average charge densities leads to the characterization of the layer between cloud and ground just before the leader propagation in the case of cloud to ground flash.

Soula, Serge↗

NASA NTRS1981

Direct measurement of lower atmospheric vertical potential differences

A high impedance system has been developed to make direct measurements of the atmospheric potential difference up to several thousand feet. A tethered balloon flown from Wallops Island, Virginia was used to loft a high voltage, insulated wire and a conducting collector in a test flight to 550 meters for two days of experiments in October 1980. The balloon was equipped with a payload to measure exact altitude, wind speed and direction, and other meteorological parameters. Electric potentials of 170,000 volts at 550 meters were measured. The collected currents which could be drawn through the wire by grounding the lower end were in the 10 microamp range indicating a system impedance of about 10 to the 10th ohms. This paper describes the apparatus and details of these measurements.

Holzworth, R. H.↗

NASA NTRS2018

Learn to Fly Test Setup and Concept of Operations

The NASA Learn-to-Fly (L2F) project recently completed a series of flight demonstrations of its learning algorithm for flight control at Fort A. P. Hill in Virginia. This paper discusses the test setup and concept of operations (ConOps) used by the L2F team. Unmanned airframe demonstrators for testing the research algorithms included a modified commercial off-the-shelf subscale powered airplane, plus four gliders – two of which had an unconventional configuration and were fabricated using a “rapid” prototyping technique. Avionics system similarities and differences between the test aircraft are described, as well as ground testing in preparation for flight. The ConOps discussion includes the development of a tethered helium balloon drop launch technique for the glider demonstrators. This launch method was chosen for its potential to be inexpensive and allow for rapid turn-around for multiple glider launches – but it also presented challenges, such as balloon tether avoidance, high angle of attack, low dynamic pressure initial conditions, and susceptibility to winds. A remotely piloted approach employing high-end hobbyist radio controlled (R/C) hardware was used for the powered demonstrator. This approach accommodated the interaction between the R/C flight system and the research flight control computer, engaging the L2F algorithm at varying initial conditions and artificially reducing the aircraft stability to stress the algorithm.

Riddick, Stephen E↗

NASA NTRS1983

Hy-wire and fast electric field change measurements near an isolated thunderstorm, appendix C

Electric field measurements near an isolated thunderstorm at 6.4 km distance are presented from both a tethered balloon experiment called Hy-wire and also from ground based fast and slow electric field change systems. Simultaneous measurements were made of the electric fields during several lightning flashes at the beginning of the storm which the data clearly indicate were cloud-to-ground flashes. In addition to providing a comparison between the Hy-wire technique for measuring electric fields and more traditional methods, these data are interesting because the lightning flashes occurred prior to changes in the dc electric field, although Hy-wire measured changes in the dc field of up to 750 V/m in the direction opposite to the fair weather field a short time later. Also, the dc electric field was observed to decay back to its preflash value after each flash. The data suggest that Hy-wire was at the field reversal distance from this storm and suggest the charge realignment was taking place in the cloud with a time constant on the order of 20 seconds.

Holzworth, R. H.↗

NASA NTRS1980

Remote sensing of oceanic phytoplankton - Present capabilities and future goals

A description is given of current work in the development of sensors, and their integration into increasingly powerful systems, for oceanic phytoplankton abundance estimation. Among the problems relevant to such work are phytoplankton ecology, the spatial and temporal domains, available sensor platforms, and sensor combinations. Among the platforms considered are satellites, aircraft, tethered balloons, helicopters, ships, and the Space Shuttle. Sensors discussed include microwave radiometers, laser fluorosensors, microwave scatterometers, multispectral scanners, Coastal Ocean Dynamics Radar (CODAR), and linear array detectors. Consideration is also given to the prospects for such future sensor systems as the National Oceanic Satellite System (NOSS) and the Airborne Integrated Mapping System (AIMS).

Esaias, W. E.↗

NASA NTRS1988

Observations of marine stratocumulus clouds during FIRE

The First International Satellite Cloud Climatology Project Regional Experiment (FIRE) to study extensive fields of stratocumulus clouds off the coast of California is presented. Measurements on the regional and detailed local scales were taken, allowing for a wide interpretation of the mean, turbulent, microphysical, radiative, and chemical characteristics of stratocumulus. Multiple aircraft and ground-based remote-sensing systems were used to study the time evolution of the boundary layer structure over a three-week period, and probes from tethered balloons were used to measure turbulence and to collect cloud-microphysical and cloud-radiative data. The observations provide a base for studying the generation maintenance and dissipation of stratocumulus clouds, and could aid in developing numerical models and improved methods for retrieving cloud properties by satellite.

Albrecht, Bruce A.↗

NASA NTRS2021

Fit to be Tied: Embracing Tethered Robots for Exploring Extreme Planetary Environments

Tethers are supportive wires that could provide power, communication, and even science instrument capabilities to planetary rovers, landers, and future human settlements. Whether it be power distribution and optical communication connecting robots exploring extreme, undersea and deep subsurface environments, to your home office on Earth, we live, and will continue to live, in a predominantly ‘wired’ world. Accordingly, as humanity continues to push beyond Earth to exploring extreme planetary terrains like caves, cliffs, craters, and crevasses, and moves towards establishing human settlements on the Moon and Mars, we can expect tethers to play a major role. For exploration purposes, tethers are critical to enabling next-generation, science-focused missions to access high-value, resource-limited targets, where exploring rovers or astronauts lack direct communication or access to viable sunlight for solar power. NASA’s Jet Propulsion Laboratory (JPL) is formulating new mission concepts that could deploy robotic assets into some of the Solar System’s harshest and steepest terrain and, in many cases, tethers are the enabling technology. Examples include i) a rappelling rover to explore vertically along lunar pit walls to determine how the Moon formed, ii) tethered rovers to reach ice deposits on Mars and the Moon, iii) large, tether-deployed antenna structures to probe into the subsurface of a planet and/or look skyward to image the highly red-shifted, early universe, iv) probes that descend into the icy layers of Europa and Enceladus in search of subsurface oceans and, potentially, extant life, and v) science instruments that could be suspended on supportive tethers from balloons on Venus to directly image the surface and sample its clouds. This paper will present a survey of the state-of-the-art for tether related exploration of the solar system and chronicle ongoing work at JPL, which is leading to robust tether designs, high-power and communication transmission over multi-km distances, and highly capable, tether-based rover systems.

McGarey, Patrick↗

NASA NTRS2011

Low-Cost Propellant Launch to LEO from a Tethered Balloon - 'Propulsion Depots' Not 'Propellant Depots'

As we have previously reported, it may be possible to launch payloads into low-Earth orbit (LEO) at a per-kilogram cost that is one to two orders of magnitude lower than current launch systems, using only a relatively small capital investment (comparable to a single large present-day launch). An attractive payload would be large quantities of high-performance chemical rocket propellant (e.g. Liquid Oxygen/Liquid Hydrogen (LO2/LH2)) that would greatly facilitate, if not enable, extensive exploration of the moon, Mars, and beyond.

Wilcox, Brian H.↗