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The advantages of tethering several satellites are discussed. Future science TSS applications are enumerated, including planetary missions that involve getting payloads as close to a planetary surface as possible. Areas of scientific interest relating to tethered systems are listed: geodynamics, aeronomy, electrodynamics, and Earth observations.
The tethered satellite concept provides an ideal platform for the study of the interaction of the atmosphere with satellites of various shapes and surfaces under a wide range of flow conditions. From experiments which would measure the drag, lift, and torque acting on the tethered satellite, important information could be obtained which would have application to satellite lifetime prediction, determination of properties of the upper atmosphere, and scientific information on the interaction of high speed molecules with surfaces (the gas surface interaction). These experiments using the tethered satellite concept are described and would measure the following variables: angle of attack, surface roughness, and flow properties.
Alfven waves are important in natural-space phenomena, and studies of these waves have been conducted by performing active experiments in space plasma. One method to study these waves involves the use of an electrodynamic tether. The electrodynamic tether consists of a subsatellite with a conducting outer surface connected to the Space Shuttle by an insulator-clad, conducting wire about 20 kilometers in length. The emf generated by the motion of the tether across the geomagnetic field will act to drive a current through the tethered system. It is pointed out that this current in the tether acts as a source for exciting the shear-Alfven wave. In the present investigation it is shown that fringing effects play a dominant role in determining the radiation pattern for currently envisioned deployments of the tether. The current paper is the first of three papers concerned with the excitation of low-frequency waves arising from a current source moving through a cold, magnetized plasma.
During ground tests of electric microthrusters and space tests of electrodynamic tethers the electron emitters must successfully operate at environmental pressures possibly as high as 1x10(exp -4) Pa. High partial pressures of oxygen, nitrogen, and water vapor are expected in such environments. A textured platinum surface was used in this work for field emission cathode assessments because platinum does not form oxide films at low temperatures. Although a reproducible cathode conditioning process did not evolve from this work, some short term tests for periods of 1 to 4 hours showed no degradation of emission current at an electric field of 8 V/mm and background pressures of about 1x10(exp -6) Pa. Increases of background pressure by air flow to about 3x10(exp -4) Pa yield a hostile environment for the textured platinum field emission cathode.
With the Cassini-Huygens atmospheric probe drop-off mission fast approaching, it is essential that scientists and engineers start scoping potential follow-on surface science missions. This paper provides a summary of the first year of a two year design study which examines in detail the desired surface science measurements and resolution, potential instrument suite, and complete payload delivery system. Also provided are design concepts for both an aerial inflatable mobility platform and deployable instrument sonde. The tethered deployable sonde provides the capability to sample near surface atmosphere, sub-surface liquid (if it exists), and surface solid material. Actual laboratory tests of the amphibious sonde prototype are also presented.
Analytical models are defined for gravity-assist trajectory changes for spacecraft passing massive compact bodies. The models are applied in an examination of the benefits of lowering a tether to an asteroid during a flyby in order to gain a trajectory change equivalent to that from a massive body (planet). Direct flybys yield velocity gains while retrograde flybys shed velocity. The magnitude of the effects are a function of the proximity to the body during flyby. This inherently limits the gravity assist technique used around planets, which usually have atmospheres and can have intense radiation fields. If a spacecraft could extend a tether (such as to be tested on the Orbiter) to snag on an asteroid surface, the potential trajectory/velocity change of the spacecraft would be limited mainly by the tether strength. The encounter physics are treated as a soft collision. Possible applications of the asteroid tether technique are outer planet, Mars and main belt asteroid exploration missions.
An analysis is made of several aspects of an advanced-technology rotating space station configuration generated under a previous study. The analysis includes examination of several modifications of the configuration, interface with proposed launch systems, effects of low-gravity environment on human subjects, and the space station assembly sequence. Consideration was given also to some aspects of space station rotational dynamics, surface charging, and the possible application of tethers.
An improved chemical modification has been developed to enhance the dispersion of layered silicate particles in the formulation of a polymer/silicate nanocomposite material. The modification involves, among other things, the co-exchange of an alkyl ammonium ion and a monoprotonated diamine with interlayer cations of the silicate. The net overall effects of the improved chemical modification are to improve processability of the nanocomposite and maximize the benefits of dispersing the silicate particles into the polymer. Some background discussion is necessary to give meaning to a description of this development. Polymer/silicate nanocomposites are also denoted polymer/clay composites because the silicate particles in them are typically derived from clay particles. Particles of clay comprise layers of silicate platelets separated by gaps called "galleries." The platelet thickness is 1 nm. The length varies from 30 nm to 1 m, depending on the silicate. In order to fully realize the benefits of polymer/silicate nanocomposites, it is necessary to ensure that the platelets become dispersed in the polymer matrices. Proper dispersion can impart physical and chemical properties that make nanocomposites attractive for a variety of applications. In order to achieve nanometer-level dispersion of a layered silicate into a polymer matrix, it is typically necessary to modify the interlayer silicate surfaces by attaching organic functional groups. This modification can be achieved easily by ion exchange between the interlayer metal cations found naturally in the silicate and protonated organic cations - typically protonated amines. Long-chain alkyl ammonium ions are commonly chosen as the ion-exchange materials because they effectively lower the surface energies of the silicates and ease the incorporation of organic monomers or polymers into the silicate galleries. This completes the background discussion. In the present improved modification of the interlayer silicate surfaces, the co-ion exchange strengthens the polymer/silicate interface and ensures irreversible separation of the silicate layers. One way in which it does this is to essentially tether one amine of each diamine molecule to a silicate surface, leaving the second amine free for reaction with monomers during the synthesis of a polymer. In addition, the incorporation of alkyl ammonium ions into the galleries at low concentration helps to keep low the melt viscosity of the oligomer formed during synthesis of the polymer and associated processing - a consideration that is particularly important in the case of a highly cross-linked, thermosetting polymer. Because of the chemical bonding between the surface-modifying amines and the monomers, even when the alkyl ammonium ions become degraded at high processing temperature, the silicate layers do not aggregate and, hence, nanometer-level dispersion is maintained.
The SPHC hydrodynamic code was used to simulate impacts of Kevlar and aluminum projectiles on a model of the LI-900 type insulating tiles used on Space Shuffle Orbiters The intent was to examine likely damage that such tiles might experience if impacted by orbital debris consisting of tether fragments. Projectile speeds ranged from 300 meters per second to 10 kilometers per second. Damage is characterized by penetration depth, tile surface-hole diameter, tile body-cavity diameter, coating fracture diameter, tether and cavity wall material phases, and deformation of the aluminum backwall.
The difficulty in making global measurements in orbit close to planetary bodies (and in particular the Moon) seriously constrains our ability to collect crucial, high-resolution data. We describe a unique and groundbreaking approach using tethered subsatellites to make measurements arbitrarily close to planetary surfaces, particularly those with no atmosphere, and to determine altitude profiles of geophysical parameters. The approach is feasible with current technology, and the subsatellite could be as small as a CubeSat. The initial results of a feasibility study and mission design for a tethered lunar CubeSat indicate that it is achievable.
In September 2007, a team of scientists and engineers from several NASA centers participated in a field exercise at Meteor Crater, Arizona. The tests in this field exercise utilized recently developed robots of varying scales and capabilities and humans in pressurized space suits. Two examples of operations performed in the field are presented: a surface operations scenario involving suited crew supported by a number of mobile robots and setup operations for accessing a crater. The surface operations scenario simulated the end of a crew sortie and involved the following agents: 1) Suit subjects from Johnson Space Center s (JSC) advanced spacesuit laboratory 2) JSC's unpressurized crewed rover testbed, SCOUT 3) The Jet Propulsion Laboratory s (JPL) rough terrain, payload carrying robot, ATHLETE 4) JSC's Astronaut assist robot, Robonaut 5) Ames Research Center's (ARC) inspection robot, K-10. Operations began with ATHLETE positioning a pressurized rover compartment (PRC) as two crew members drove the SCOUT unpressurized rover from the field. The crew dismounted SCOUT, walked to the PRC for recharging. Robonaut then removed a sample box from the SCOUT equipment tray. K-10 then performed a drive around inspection of SCOUT, assembling a mosaic image. Lastly, the SCOUT vehicle was remotely driven to the next site. The setup operations for crater access scenario involved ATHLETE and Robonaut. This scenario began with Robonaut approaching ATHLETE and extracting a tether line. ATHLETE then extracted a drill and drilled an anchor into the surface. Robonaut then reconnected the tether to the anchor and backed away. ATHLETE is then ready to descend into the crater. This descending into the crater step is currently in the planning phase.
During the 1991-92 academic year, the Pennsylvania State University has developed three sample return missions: one to the nucleus of comet Wild 2, one to the asteroid Eros, and one to three asteroids located in the Main Belt. The primary objective of the comet nucleus sample return mission is to rendezvous with a short period comet and acquire a 10 kg sample for return to Earth. Upon rendezvous with the comet, a tethered coring and sampler drill will contact the surface and extract a two-meter core sample from the target site. Before the spacecraft returns to Earth, a monitoring penetrator containing scientific instruments will be deployed for gathering long-term data about the comet. A single asteroid sample return mission to the asteroid 433 Eros (chosen for proximity and launch opportunities) will extract a sample from the asteroid surface for return to Earth. To limit overall mission cost, most of the mission design uses current technologies, except the sampler drill design. The multiple asteroid sample return mission could best be characterized through its use of future technology including an optical communications system, a nuclear power reactor, and a low-thrust propulsion system. A low-thrust trajectory optimization code (QuickTop 2) obtained from the NASA LeRC helped in planning the size of major subsystem components, as well as the trajectory between targets.
Many areas of scientific interest in planetaryexploration, such as lunar pits, icy-moon crevasses, and Martiancraters, are inaccessible to current wheeled rovers. Rappellingrovers can safely traverse these steep surfaces, but requiretechniques to navigate their complex terrain. This dynamicnavigation is inherently time-critical and communication constraints(e.g. delays and small communication windows) willrequire planetary systems to have some autonomy.Autonomous navigation for Martian rovers is well studiedon moderately sloped and locally planar surfaces, but thesemethods do not readily transfer to tethered systems in nonplanar3D environments. Rappelling rovers in these situationshave additional challenges, including terrain-tether interactionand its effects on rover stability, path planning and control.This paper presents novel traversability analysis and pathplanning algorithms for rappelling rovers operating on steepterrains that account for terrain-tether interaction and theunique stability and reachability constraints of a rapellingsystem. The system is evaluated with a series of simulations andan analogue mission. In simulation, the planner was shown toreliably find safe paths down a 55 degree slope when a stabletether-terrain configuration exists and never recommended anunsafe path when one did not. In a planetary analogue mission,elements of the system were used to autonomously navigateAxel, a JPL rappelling rover, down a 30 degree slope with95% autonomy by distance travelled over 46 meters.
Progress has been made in the development of a family of robotic land vehicles having modular and minimalist design features chosen to impart a combination of robustness, reliability, and versatility. These vehicles at earlier stages of development were described in two previous NASA Tech Briefs articles: "Reconfigurable Exploratory Robotic Vehicles" (NPO-20944), Vol. 25, No. 7 (July 2001), page 56; and "More About Reconfigurable Exploratory Robotic Vehicles" (NPO-30890), Vol. 33, No. 8 (August 2009), page 40. Conceived for use in exploration of the surfaces of Mars and other remote planets, these vehicles could also be adapted to terrestrial applications, including exploration of volcanic craters or other hostile terrain, military reconnaissance, inspection of hazardous sites, and searching for victims of earthquakes, landslides, avalanches, or mining accidents. In addition, simplified versions of these vehicles might be marketable as toys. The most basic module in this family of reconfigurable robots is the Axel rover, which has a cylindrical body with two main wheels and a trailing link. Inside its body are three motors and associated mechanisms for driving the two wheels and for rotating the link 360 around its symmetrical body. The actuated link serves several purposes: It is used as a lever arm to react to the wheels thrust to move Axel in multiple directions. It is used to rotate the Axel housing in order to tilt, to the desired angle, any sensors and instruments mounted on or in the Axel housing. It provides an alternative mobility mode, which is primarily used in its tethered configuration. Turn ing the link into the ground in lieu of driving the wheels causes the Axel housing and wheels to roll as a unit and thereby leads to a tumbling motion along the ground. With a tether mounted around Axel s cylindrical body, the link serves as a winch mechanism to reel and unreel the tether raising and lowering Axel over steep and vertical surfaces (Figure 1). Sensors, computation, and communication modules are also housed inside Axel s body. A pair of stereo vision cameras provides three-dimensional view for autonomous navigation and avoiding obstacles. Inertial sensors determine the tilt of the robot and are used for estimating its motion. In a fully developed version, power would be supplied by rechargeable batteries aboard Axel; at the time of reporting the information for this article, power was supplied from an external source via a cable. In and of itself, the Axel rover is fully capable of traversing and sampling terrains on planetary surfaces. By use of only the two main wheel actuators and the caster link actuator, Axel can be made to follow an arbitrary path, turn in place, and operate upside- down or right-side-up. If operated in a tethered configuration, as shown in Figure 1, it can be made to move down and up a steep crater wall, descend from an overhang to a cave, and ascend from the cave back to the overhang, all by use of the same three actuators. Such tethered operation could be useful in searching for accident victims or missing persons in mines, caves, and rubble piles. Running the tether through the caster link enhances the stability of Axel and provides a restoring force that keeps the link off the ground for the most part during operation on a steep slope. In its extended configuration, two Axel modules can dock to either side of a payload module to form the four wheeled Axel2 rover (Figure 2). Additional payload and Axel modules can dock to either side of the Axel2 to form the Axel3 rover, extending its payload capacity and its mobility capabilities.
Ideas of deep space exploration are considered. The role of tethers in deep space is of most concern. A proposal of a tethered instrument package in orbit about the Moon is explored. The idea of a sling on the surface of the Moon which would take solar energy and build up momentum of the sling is studied. The NASA idea of a Mars Aeronomy Orbiter which would use a tether to enhance the planned Mars Orbiter is reviewed. It is also proposed that a tether can be attached to an asteroid during a spacecraft flyby. The possibility of using tethers to provide a transportation system for payloads which are coming to the surface from escape, and which are leaving Mars and escaping from Mars itself is also studied. A proposal from the Jet Propulsion Lab. on collecting comet or asteroid samples and returning them to Earth is reviewed. A tethered penetrator which could collect core samples is the proposed way. Also considered is the area of electrodynamic tethers at Jupiter.
With the Cassini-Huygens atmospheric probe drop-off mission fast approaching, it is essential that scientists and engineers start scoping potential follow-on surface science missions. This paper provides a summary of the first year of a two year design study which examines in detail the desired surface science measurements and resolution, potential instrument suite, and complete payload delivery system. Also provided are design concepts for both an aerial inflatable mobility platform and deployable instrument sonde. The tethered deployable sonde provides the capability to sample nearsurface atmosphere, sub-surface liquid (if it exists), and surface solid material. Actual laboratory tests of the amphibious sonde prototype are also presented.
One of the most pressing current questions in space science is whether life has ever arisen anywhere else in the universe. Water is a critical prerequisite for all life-as-we-know-it, thus the possible exploration targets for extraterrestrial life are bodies that have or had copious liquid: Mars, Europa, and Enceladus. Due to the oxidizing nature of Mars' surface, as well as subsurface liquid water reservoirs present on Europa and Enceladus, the search for evidence of existing life must likely focus on subsurface locations, at depths sufficient to support liquid water or retain biologic signatures. To address these questions, an Auto-Gopher sampler has been developed that is a wireline type drill. This drill is suspended on a tether and its motors and mechanisms are built into a tube that ends with a coring bit. The tether provides the mechanical connection to a rover/lander on a surface as well as power and data communication. Upon penetrating to a target depth, the drill is retracted from the borehole, the core is deposited into a sample transfer system, and the drill is lowered back into the hole. Wireline operation sidesteps one of the major drawbacks of traditional continuous drill string systems by obviating the need for multiple drill sections, which add significantly to the mass and the complexity of the system (i.e. penetration rate was 40 cm per hour). Drilling to 2 meter depth and recovering of cores every 10 cm took a total time of 15 hours (a single step of drilling 10 cm and retrieving the core was 45 minutes). Total energy to reach the 2 m depth was 500 Whr. The Weight on Bit was limited to less than 70 Newton. The core recovery was 100%.
By employing technology developed for the Tethered Satellite Program, it appears feasible to obtain Martian dust samples from the atmosphere using an orbiting spacecraft. If collected during an annual dust storm, such a sample would contain a global selection of windborne materials. Atmospheric dust sampling is of importance to the study of Martian surface geochemistry, soil mechanics, atmospheric dynamics, and atmospheric and radiative transfer. Tethered sample return offers two key advantages over a lander sample return: relative simplicity and low spacecraft weight. In another vein, the collection of atmospheric dust by a lander sample return mission is itself of scientific merit. By employing a mast and collection plate aboard a lander mission, it is possible to obtain dust from distant locations transported as entrained material in the local aeolian environment.