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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 415 records · Page 23
All sourcesNASA NTRSDOE OSTI
NASA NTRS2016

Design and Development of a Methane Cryogenic Propulsion Stage for Human Mars Exploration

NASA is currently working on the Evolvabe Mars Campaign (EMC) study to outline transportation and mission options for human exploration of Mars. One of the key aspects of the EMC is leveraging current and planned near-term technology investments to build an affordable and evolvable approach to Mars exploration. This leveraging of investments includes the use of high-power Solar Electric Propulsion (SEP) systems, evolved from those currently under development in support of the Asteroid Redirect Mission (ARM), to deliver payloads to Mars. The EMC is considering several transportation options that combine solar electric and chemical propulsion technologies to deliver crew and cargo to Mars. In one primary architecture option, the SEP propulsion system is used to pre-deploy mission elements to Mars while a high-thrust chemical propulsion system is used to send crew on faster ballistic transfers between Earth and Mars. This high-thrust chemical system uses liquid oxygen - liquid methane main propulsion and reaction control systems integrated into the Methane Cryogenic Propulsion Stage (MCPS). Over the past year, there have been several studies completed to provide critical design and development information related to the MCPS. This paper is intended to provide a summary of these efforts. A summary of the current point of departure design for the MCPS is provided as well as an overview of the mission architecture and concept of operations that the MCPS is intended to support. To leverage the capabilities of solar electric propulsion to the greatest extent possible, the EMC architecture pre-deploys to Mars orbit the stages required for returning crew from Mars. While this changes the risk posture of the architecture, it can provide some mass savings by using higher-efficiency systems for interplanetary transfer. However, this does introduce significantly longer flight times to Mars which, in turn, increases the overall lifetime of the stages to as long as 2500 days. This unique aspect to the concept of operations introduces several challenges, specifically related to propellant storage and engine reliability. These challenges and some potential solutions are discussed. Specific focus is provided on two key technology areas; propulsion and cryogenic fluid management. In the area of propulsion development, the development of an integrated methane propulsion system that combines both main propulsion and reaction control is discussed. This includes an overview of potential development paths, areas where development for Mars applications are complementary to development efforts underway in other parts of the aerospace industry, and commonality between the MCPS methane propulsion applications and other Mars elements, including the Mars lander systems. This commonality is a key affordability aspect of the Evolvable Mars Campaign. A similar discussion is provided for cryogenic fluid management technologies including a discussion of how using cryo propulsion in the Mars transportation application not only provides performance benefits but also leverages decades of technology development investments made by NASA and its aerospace contractor community.

Percy, Thomas K.↗
NASA NTRSDate not supplied

Design and Analysis of Battery Thermal Management Systems

Thermal management of battery cell packs is a critically needed technology. The purpose of this work is to design new and improved Battery Thermal Management Systems (BTMS) for use in electric airplanes. The BTMS should be 3D printable and hold twelve to sixteen 18650 batteries. To minimize aircraft’s weight, an actively air-cooled battery pack was chosen to avoid the excess weight of water-cooled and phase change material (PCM) cooled packs. As a result, significant changes were made to remove all metal in the pack and replace it with lower density polymer matrix composites (PMCs) which can be additively manufactured. Two air cooled battery pack configurations (traditional propeller fans & bladeless fans) were designed, modeled, and compared. These packs were first modeled in SolidWorks 2021 3D CAD, then imported into COMSOL MultiPhysics to be studied using the “Heat Transfer in Solids and Fluids” module. The design with the bladeless fans eliminated the need to use high conductivity heavy metal to remove unwanted thermal energy. These bladeless fans were designed entirely out of PMCs. This thermal pack design weighs 0.04 kg less than that of the traditional propeller fans design and has increased the battery pack energy density by 8.25 Wh/kg.

Thermal Management System for Battery Packs↗
NASA NTRSDate not supplied

Progress in Red vs. Green Propellant Operations: ASCENT Load Operations Lessons Learned

The Green Propellant Infusion Mission (GPIM) [1] is a NASA Space Technology Mission Directorate (STMD) effort to establish via demonstration ASCENT propellant (Advanced Space Craft Energetic Non-Toxic propellant, formerly referred to as AF-M315E) ground operations through on –orbit performance. ASCENT was developed by Air Force Research Laboratory (AFRL) as an increased energy density, reduced toxicity and reduced hazard monopropellant formulation relative to hydrazine. The GPIM team was led by Ball Aerospace and Technologies Corporation (BATC) as Program Management and Principal Investigator with AFRL, Aerojet-Rocketdyne (AR), the United States Space Force Space and Missile Systems Center (USSF/SMC), NASA Glenn Research Center (GRC), NASA Goddard Space Flight Center (GSFC), and NASA Kennedy Space Center (KSC) as Co-Investigators. The AFRL co-investigator role in the GPIM program was to develop the Propellant Ground Support Equipment (PGSE), associated Standard Operating Procedures (SOP) and Check Lists (CL), propellant load, propellant specification standard conventions and analysis methods, decontamination and waste disposal practices. This paper will discuss lessons learned in documentation, crew composition and readiness, equipment readiness, propellant readiness and potential improvements in the PGSE design.

Anthony P Zuttarelli↗
NASA NTRS1996

Breakthrough Propulsion Physics Research Program

In 1996, a team of government, university and industry researchers proposed a program to seek the ultimate breakthroughs in space transportation: propulsion that requires no propellant mass, propulsion that can approach and, if possible, circumvent light speed, and breakthrough methods of energy production to power such devices. This Breakthrough Propulsion Physics program, managed by Lewis Research Center, is one part of a comprehensive, long range Advanced Space Transportation Plan managed by Marshall Space Flight Center. Because the breakthrough goals are beyond existing science, a main emphasis of this program is to establish metrics and ground rules to produce near-term credible progress toward these incredible possibilities. An introduction to the emerging scientific possibilities from which such solutions can be sought is also presented.

Millis, Marc G.↗
NASA NTRS2014

NASA Tech Briefs, March 2014

Topics include: Data Fusion for Global Estimation of Forest Characteristics From Sparse Lidar Data; Debris and Ice Mapping Analysis Tool - Database; Data Acquisition and Processing Software - DAPS; Metal-Assisted Fabrication of Biodegradable Porous Silicon Nanostructures; Post-Growth, In Situ Adhesion of Carbon Nanotubes to a Substrate for Robust CNT Cathodes; Integrated PEMFC Flow Field Design for Gravity-Independent Passive Water Removal; Thermal Mechanical Preparation of Glass Spheres; Mechanistic-Based Multiaxial-Stochastic-Strength Model for Transversely-Isotropic Brittle Materials; Methods for Mitigating Space Radiation Effects, Fault Detection and Correction, and Processing Sensor Data; Compact Ka-Band Antenna Feed with Double Circularly Polarized Capability; Dual-Leadframe Transient Liquid Phase Bonded Power Semiconductor Module Assembly and Bonding Process; Quad First Stage Processor: A Four-Channel Digitizer and Digital Beam-Forming Processor; Protective Sleeve for a Pyrotechnic Reefing Line Cutter; Metabolic Heat Regenerated Temperature Swing Adsorption; CubeSat Deployable Log Periodic Dipole Array; Re-entry Vehicle Shape for Enhanced Performance; NanoRacks-Scale MEMS Gas Chromatograph System; Variable Camber Aerodynamic Control Surfaces and Active Wing Shaping Control; Spacecraft Line-of-Sight Stabilization Using LWIR Earth Signature; Technique for Finding Retro-Reflectors in Flash LIDAR Imagery; Novel Hemispherical Dynamic Camera for EVAs; 360 deg Visual Detection and Object Tracking on an Autonomous Surface Vehicle; Simulation of Charge Carrier Mobility in Conducting Polymers; Observational Data Formatter Using CMOR for CMIP5; Propellant Loading Physics Model for Fault Detection Isolation and Recovery; Probabilistic Guidance for Swarms of Autonomous Agents; Reducing Drift in Stereo Visual Odometry; Future Air-Traffic Management Concepts Evaluation Tool; Examination and A Priori Analysis of a Direct Numerical Simulation Database for High-Pressure Turbulent Flows; and Resource-Constrained Application of Support Vector Machines to Imagery.

Source record↗
NASA NTRSDate not supplied

Summary of Testing Results for the Structural Heat Intercept, Insulation, and Vibration Evaluation Rig (SHIIVER)

Testing was completed on the Structural Heat Intercept, Insulation, and Vibration Evaluation Rig (SHIIVER) between August 2019 and January 2020. SHIIVER was designed to be a test bed for the scaling of cryogenic fluid management technologies as applied to large upper stages and long duration in-space stages. The baseline SHIIVER design consists of uninsulated structural skirts attached to a propellant tank insulated with polyurethane Spray-On Foam Insulation (SOFI). The initial testing of the SHIIVER hardware was with liquid hydrogen and sought to demonstrate the use of boil-off vapor to intercept heat on a structural skirt, multilayer insulation (MLI) on the tank domes, and the radio frequency mass gauge (RFMG). Testing was completed in four stages: a baseline thermal vacuum test prior to installation of the MLI on the tank domes, a thermal vacuum test after the MLI installation, a reverberant acoustic test, and a subsequent thermal vacuum test to verify that no damage occurred during the reverberant acoustic testing. Each thermal vacuum test with chamber wall at ambient temperature and vacuum level in the 10-6 torr range was conducted continuously between approximately 90% full and 25% full. Test results showed that the vapor cooling reduced the heat load to the tank by approximately 10%, but the boil-off by less than 3% at 50% full, with and without MLI installed on the domes. The MLI installed on the domes reduced the heat load to the tank by approximately 40% at all fill levels, but the boil-off by approximately 25% at 90% full and 45% below 65% full. The RFMG performed well over all fill ranges, and several RF tank modes were used to gauge the mass of fluid in the tank. SHIIVER was then exposed to an acoustic environment of 147 dB OASPL (overall sound pressure level) in a reverberant chamber. The acoustic environment envelopes the upper stage internal acoustic level of several different modern launch vehicles. No structural or thermal performance changes were observed after exposure to the acoustic environment. Final thermal vacuum testing after the acoustic testing showed no degradation to the MLI due to the acoustic environment as measured via system heat loads

SHIIVER↗
NASA NTRSDate not supplied

Cryogenic Fluid Management Technologies Enabling for the Artemis Program and Beyond

NASA is endeavoring on an ambitious return to the Moon and eventually on to Mars through the Artemis Program leveraging innovative technologies to establish sustainable exploration architectures collaborating with US commercial and international partners[1]. Future NASA architectures have baselined cryogenic propulsion systems to support lunar missions and ultimately future missions to Mars. NASA has been investing in maturing CFM active and passive storage, transfer, and gauging technologies over the last decade plus primarily focused on ground development with a few small-scale microgravity fluid experiments. Recently, NASA created a Cryogenic Fluid Management (CFM)Technology Roadmap identifying the critical gaps requiring further development to reach a technology readiness level (TRL) of 6 prior to infusion to flight applications. To address the technology gaps the Space Technology Mission Directorate(STMD)strategically plans to invest in a diversified CFM portfolio approach through ground and flight demonstrations ,collaborating with international partners, and leveraging Public Private Partnerships (PPPs) opportunities with US industry through the Tipping Point and Announcement of Collaborative Opportunities (ACO) solicitations. Once proven, these system capabilities will enable the high performing cryogenic propellant systems needed for the Artemis Program and beyond.

Cryogenic Fluid Management↗
NASA NTRS2005

Reusable Hybrid Propellant Modules for Outer-Space Transport

A report summarizes the concept of reusable hybrid propellant modules (HPMs), which would be used in outer space for long-term cryogenic storage of liquefied spacecraft-propellant gases, including for example, oxygen and hydrogen for combustion-based chemical rocket engines and xenon for electric thrusters. The HPM concept would provide the fundamental building block for an efficient, reusable in-space transportation system for both crewed and uncrewed missions. Each HPM would be equipped to implement an advanced zero-boil-off method of managing cryogenic fluids, and would include a fluid-transfer interface comprising standardized fittings that would be compatible with fittings on all supply facilities and on spacecraft to be supplied. The HPM, combined with a chemical or electric orbital transfer spacecraft, would provide an integrated propulsion system. HPMs would supply chemical propellant for time-critical transfers such as crewed missions, and utilize the more efficient electric-propulsion transfer vehicles to transport filled HPMs to the destinations and to return empty HPMs back to near-Earth orbits or other intermediate locations for replenishment and reuse. The HPM prepositioned using electric propulsion would provide the chemical propellant for the crew s return trip in a much more efficient manner than a chemical-only approach. The propellants to fill the HPMs would be delivered from the Earth or other initial supply locations to the intermediate locations by use of automated, compatible spacecraft designed specifically for that purpose. Additionally, multiple HPMs could be aggregated and positioned in orbits and on planets, moons, and asteroids to supply fluids to orbiting and interplanetary spacecraft.

Mazanek, Daniel D.↗
NASA NTRS2023

NASA Team Develops a Test Article to Demonstrate “Zero Boil-Off” Storage of Liquid Hydrogen via Cryocoolers and a Two-Stage Cooling Approach

Funded by NASA’s Technology Demonstration Mission Program and managed by the Cryogenic Fluid Management Portfolio Project, a NASA team is developing a test article to demonstrate the “zero boil-off” storage of liquid hydrogen using active cooling (cryocoolers) and a two-stage cooling approach. The current state of the art for storage of liquid hydrogen on-orbit is on the order of hours while future missions may require storage for months or even years. To enable such extended storage durations, “near zero” propellant loss, or “zero boil-off”, must be achieved. This may be accomplished with the implementation of “near zero” leakage components, a high performing suite of passive technologies to minimize the environmental heat loads, and active cooling via cryocoolers to intercept and remove heat from the propellant tanks and associated structure. Of course, with any cryogenic vehicle and mission, a mass and power trade should be conducted to determine if it is indeed feasible to carry the additional dry mass associated with active cooling, or if one could simply carry additional propellants to accommodate propellant loss which is typically not an option for a long duration mission.

Hydrogen Storage↗
NASA NTRS1990

The COLD-SAT program

The Cryogenic On-Orbit Liquid Depot Storage, Acquisition and Transfer (COLD-SAT) satellite is an experimental spacecraft launched from an expendable launch vehicle which is designed to investigate the systems and technologies required for efficient and reliable management of cryogenic fluid in the reduced-gravity space environment. Future applications such as Space Station, Space Transportation Vehicle (STV), external tank (ET), aft cargo carrier (ACC) propellant scavenging, storage depots, and lunar and interplanetary missions, among others, have provided the impetus to pursue this technology in a timely manner to support the design efforts. A refined conceptual approach has been developed and an overview of the COLD-SAT program is described which includes the following: (1) a definition of the technology needs and the accompanying experimental six-month baseline mission; (2) a description of the experiment subsystem, major features, and rationale for satisfaction of primary and secondary experiment requirements using LH2 as the test fluid; and (3) a presentation of the conceptual design of the COLD-SAT spacecraft subsystems which support the on-orbit experiment with emphasis on those areas which posed the greatest technical challenge.

Bailey, William J.↗
NASA NTRS2000

Space Shuttle Propulsion Safety Upgrades

This document is a viewgraph presentation which reviews the proposed upgrades to the Space Shuttle Propulsion system, to improve safety, and reduce significant hazards. The goals of the program are to reduce the risk of a catastrophe in ascent, to achieve significant reduction in orbital and entry systems, and to improve the crew cockpit situational awareness for managing the critical operational situations. The document reviews the upgrades to the propulsion system which are planned to improve the safety. These include modifications to the Advanced Thrust Vector Control, modifications to the Space Shuttle Main Engine Block III, improvement in the Advanced Health Management System, the use of Friction Stir welding on the external tank, which is expected to improve mechanical properties, and reduce defect rate, and the modification of the propellant grains geometry.

Humphries, William Randy, Jr.↗
NASA NTRSDate not supplied

Cryogenic Fluid Management Using CFD - Development and Applications

The Fluid Dynamics Branch has positioned itself to support a wide range of customers in need of Cryogenic Fluid Management (CFM) analysis. A computational fluid dynamics (CFD) tool used for all manner of internal and external propulsion applications has been extended and refined to better model cryogenic propellant storage and tanking operations. Through the CFM Portfolio project, several validation activities were initiated. Validation of propellant tank self-pressurization, autogenous pressurization, slosh-induced ullage collapse, and jet-induced mixing all aid in defining model accuracy. The on-going validation effort has enabled confident application of the tool to in-line design and evaluation of CFM hardware and operations. Recent project support included design of no-vent fill operations using various techniques for the Human Landing System (HLS). Propellant transfer dynamics were predicted to ensure complete propellant delivery. Many more activities in support of HLS and other projects and programs were supported. The branch has engaged the CFM community to share recent findings and capabilities through conferences. To reach the wider community, a consolidation of fundamental findings from work on in-space pulsed settling maneuvers was distilled in an AIAA paper. Development and demonstration of CFM modeling capabilities continues in order to meet the needs of the agency and its industry partners in the endeavor to sustainably reach the Moon and beyond.

Jacob Brodnick↗
NASA NTRSDate not supplied

Addressing CFM Modeling Gaps for Application into NASA’S Future Cutting Edge Missions

NASA, the US industry, and international partners are crafting frameworks to enable sustaining lunar missions. The ongoing programs, led by the agency, and prominent industry players, encompass plans for the sustained use of cryogenic propellants in lunar landers and in-space propellant refueling depots. NASA’s proactive funding initiatives have fueled the advancement of predictive computational models tailored to enhance the storage and transfer of cryogenic propellant. This paper aims to spotlight the latest advancements in this arena and delve into the collaborative efforts surrounding predictive model development within internal NASA programs as well as current and previous collaborations with industry and international partners. The paper presents an overview of recent advancements in cryogenic fluid management model development, along with their correlation with recent microgravity and large-scale cryogenic ground tests. The tests include key experiments such as the ISS Zero-Boil-Off Tank (ZBOT) series of experiments and the (Robotic Refueling Mission 3) RRM3 test during which liquid methane was stored on-orbit for an extended period of five months. The paper also highlights the anchoring of propellant tank pressurized drain tests involving sloshing that were conducted with liquid methane propellant during the Apollo/Saturn Era. Additionally, the paper discusses model anchoring against more recent sloshing tests carried out with liquid hydrogen propellant. Notable large-scale tests, such as a liquid oxygen propellant transfer test conducted by SpaceX were also used to help correlate a two-phase propellant transfer model using the valuable data measured during the test. The paper further showcases model correlations against a substantial oxygen liquefaction test undertaken by NASA to validate In-Situ-Resource-Utilization (ISRU) technologies that will prove pivotal for a sustained lunar presence.

Low-gravity fluid modeling↗
NASA NTRSDate not supplied

A Generalized Guidance Approach to In-Space Solid-Propellant Vehicle Maneuvers

Exploration-class vehicles that require fully autonomous ascent and descent must employ robust, explicit path-adaptive guidance algorithms that can operate in a wide range of physical environments. Vehicle designs that employ solid-propellant rocket motors (SRMs) for maneuvers are attractive from a systems engineering perspective because of their simplicity and reliability, but may cause complications for both mission designers and GNC engineers when dealing with total impulse uncertainty, as well as proper energy management of a motor with an uncontrolled cutoff time. This paper presents a simplified guidance algorithm, named Simple Cross-Product Steering (SxS), that was derived during early studies of NASA’s Mars Sample Return mission’s Mars Ascent Vehicle. The algorithm takes roots in a flight-proven guidance algorithm commonly referred to as Cross-Product Steering. SxS has been shown to provide sufficient guidance accuracy for in-space SRM burns in a simulated Martian environment, and preliminary studies have been conducted to test the algorithm in a solid-propellant lunar braking scenario. A method for predicting proper motor ignition time during execution of the Cross-Product Steering algorithm is the primary contribution of this paper. Mechanization notes are also provided that were realized in early phases of MAV. Results are shown for an example ascent vehicle in a simulated Mars environment.

GNC↗
NASA NTRS2020

A Generalized Guidance Approach to In-Space Solid-Propellant Vehicle Maneuvers

Exploration-class vehicles that require fully autonomous ascent and descent must employ robust, explicit path-adaptive guidance algorithms that can operate in a wide range of physical environments. Vehicle designs that employ solid-propellant rocket motors (SRMs) for maneuvers are attractive from a system engineering perspective because of their simplicity and reliability but may cause complications for both mission designers and GNC engineers when dealing with total impulse uncertainty, as well as proper energy management of a motor with an uncontrolled cutoff time. This paper presents a simplified guidance algorithm, named Simple Cross-Product Steering (SxS), that was derived during early studies of NASA’s Mars Sample Return mission’s Mars Ascent Vehicle. The algorithm takes roots in a flight-proven guidance algorithm commonly referred to as Cross-Product Steering. This algorithm has been shown to provide sufficient guidance accuracy for in-space SRM burns in a simulated Martian environment, and preliminary studies have been conducted to test the algorithm in a solid-propellant lunar braking scenario. A method for predicting proper motor ignition time during execution of the Cross-Product Steering algorithm is the primary contribution of this paper. Mechanization notes are also provided that were realized in early phases of MAV. Results are shown for an example ascent vehicle a simulated Mars environment.

Jason M Everett↗
NASA NTRS2015

Modeling and Analysis of Chill and Fill Processes for the EDU Tank

NASA's future missions may require long-term storage and transfer of cryogenic propellants. The Engineering Development Unit (EDU), a NASA in-house effort supported by both Marshall Space Flight Center (MSFC) and Glenn Research Center (GRC), is a Cryogenic Fluid Management (CFM) test article that primarily serves as a manufacturing pathfinder and a risk reduction task for a future CFM payload. The EDU test article, comprises a flight like tank, internal components, insulation, and attachment struts. The EDU is designed to perform integrated passive thermal control performance testing with liquid hydrogen in a space-like vacuum environment. A series of tests, with liquid hydrogen as a testing fluid, was conducted at Test Stand 300 at MSFC during summer of 2014. The objective of this effort was to develop a thermal/fluid model for evaluating the thermodynamic behavior of the EDU tank during the chill and fill processes. Generalized Fluid System Simulation Program (GFSSP), an MSFC in-house general-purpose computer program for flow network analysis, was utilized to model and simulate the chill and fill portion of the testing. The model contained the liquid hydrogen supply source, feed system, EDU tank, and vent system. The modeling description and comparison of model predictions with the test data will be presented in the final paper.

Hedayat, A.↗
NASA NTRS2015

Satellite Servicing Capabilities Office Testing

While at the KSC, I was given the opportunity of assisting the Satellite Servicing Capabilities Office (SSCO) specifically the Propellant Transfer System (PTS) lead by my mentor, Brian Nufer. While waiting to test different components in the PTS, I was able to assist with testing for the Hose Management Assembly (HMA) and was able to work on a simulation in Labview. For the HMA, I was able to help with testing of a coating as well as to help test the durability of the pinch rollers in space. In Labview, I experimented with building a simulation for the PTS, to show where fluids and gases were flowing depending on which valves in the PTS were opened. Not all of the integrated parts required assembly level testing, which allowed me to test these parts individually by myself and document the results. I was also able to volunteer to assist project NEO, allowing me to gain some knowledge of cryogenic fluid systems.

PTS↗
NASA NTRS2005

Utilizing Radioisotope Power System Waste Heat for Spacecraft Thermal Management

One of the advantages of using a Radioisotope Power System (RPS) for deep space or planetary surface missions is the readily available waste heat, which can be used to maintain electronic components within a controlled temperature range, to warm propulsion tanks and mobility actuators, and to gasify liquid propellants. Previous missions using Radioisotope Thermoelectric Generators (RTGs) dissipated a very large quantity of waste heat due to the relatively low efficiency of the thermoelectric conversion technology. The next generation RPSs, such as the 110-watt Stirling Radioisotope Generator (SRG110) will have much higher conversion efficiencies than their predecessors and therefore may require alternate approaches to transferring waste heat to the spacecraft. RTGs, with efficiencies of approx. 6 to 7% and 200 C housing surface temperatures, would need to use large and heavy radiator heat exchangers to transfer the waste heat to the internal spacecraft components. At the same time, sensitive spacecraft instruments must be shielded from the thermal radiation by using the heat exchangers or additional shields. The SRG110, with an efficiency around 22% and 50 C nominal housing surface temperature, can use the available waste heat more efficiently by more direct heat transfer methods such as heat pipes, thermal straps, or fluid loops. The lower temperatures allow the SRG110 much more flexibility to the spacecraft designers in configuring the generator without concern of overheating nearby scientific instruments, thereby eliminating the need for thermal shields. This paper will investigate using a high efficiency SRG110 for spacecraft thermal management and outline potential methods in several conceptual missions (Lunar Rover, Mars Rover, and Titan Lander) to illustrate the advantages with regard to ease of assembly, less complex interfaces, and overall mass savings.

Pantano, David R.↗