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A space-based microwave radar concept

A space-based microwave radar (SBR) concept is defined using a tether trans-receive antenna supported between two gravity gradient low earth-orbiting satellites. A cluster of four tether antennas each of 6 km maximum length and 1.5 km separation between tethers constitutes a radar. A system of eight to eleven such clusters constitutes the overall radar scheme which will cover approximately one third of the earth surface for detecting sea-based targets. Issues identified are the array structure, coherence of tethered arrays, grating lobe energy clamping, clutter effects, communications, system requirements and the overall radar system concept including stability considerations. This paper presents the base-line definition of an alternate space-based radar scheme.

Chakraborty, D.↗

Determination of design and operation parameters for upper atmospheric research instrumentation to yield optimum resolution with deconvolution. Appendix 7

Because of the interesting science which can be performed using a satellite attached by a very long tether to a mother vehicle in orbit, such as the Space Shuttle, NASA will deploy TSS-1 (Tethered Satellite System) in 1992. A very long tether (20 km in this case) has the possibility of undergoing oscillations of several different types, or modes, and higher harmonics of these modes. The purpose of this document is to describe a method for detecting the amplitude, frequency, and phase (and predicting future motion in the steady state) of these modes, in particular, the skiprope mode, using tethered satellite dynamics measurements. Specifically the rotation rate data about two orthogonal axes, calculated from output from satellite gyroscopes, are used. The data of interest are the satellite pitch and roll rate measurements. NASA has determined to use two methods to diagnose skiprope properties and predict future values. One of these, a Fourier transform domain approach, is the subject of this notebook. The main program and all subroutines are described along with the test plan for evaluating the Frequency Domain Skiprope Observer.

Ioup, George E.↗

AMPAS - A new active experiment mission

A new concept for an active experiments mission is presented: The Active Magnetospheric Particle Acceleration Satellite (AMPAS). It is proposed to fly a dual-payload tethered satellite to study three important areas of magnetopsheric physics: (1) electric and magnetic field structures of the Earth's magnetosphere, (2) electron beam-plasma interactions, and (3) far ultraviolet (FUV) signatures of energetic electron precipitation. The tethered system is to be flown in a gravity-gradient stabilized configuration with a 70 deg circular orbit at altitudes in the range 300-800 km. The upper payload will carry two electron beam accelerators (1-10 keV, 1 A) and a plasma contractor to electrically neutralize the payload, while the lower will carry a complement of optical imaging and plasma diagonstics instrumentation. Upward directed beams are injected to 'sound' electric and magnetic field structures, including parallel electric fields in the auroral region, while simultaneous optical instruments aimed downwards measure characteristics of reflected beam pulses precipitating into the upper atmosphere below the satellite. Downward directed beams, and simultaneous plasma wave, particle and optical measurements, are used for the investigation of beam-plasma interactions and electron precipitation studies. The payloads are to be connected by a 1-6 km long tether to be deployed in stages. The configuration of the beam source and the plasma and optical diagnostics on separate, tethered payloads allows the diagnostics to be performed outside of the disturbed region around the source payload, and plasma wave and particle observations of beam-plasma interactions to be performed at well-defined locations relative to the source.

Neubert, T.↗

Development of the SEASIS instrument for SEDSAT

Two SEASIS experiment objectives are key: take images that allow three axis attitude determination and take multi-spectral images of the earth. During the tether mission it is also desirable to capture images for the recoiling tether from the endmass perspective (which has never been observed). SEASIS must store all its imagery taken during the tether mission until the earth downlink can be established. SEASIS determines attitude with a panoramic camera and performs earth observation with a telephoto lens camera. Camera video is digitized, compressed, and stored in solid state memory. These objectives are addressed through the following architectural choices: (1) A camera system using a Panoramic Annular Lens (PAL). This lens has a 360 deg. azimuthal field of view by a +45 degree vertical field measured from a plan normal to the lens boresight axis. It has been shown in Mr. Mark Steadham's UAH M.S. thesis that his camera can determine three axis attitude anytime the earth and one other recognizable celestial object (for example, the sun) is in the field of view. This will be essentially all the time during tether deployment. (2) A second camera system using telephoto lens and filter wheel. The camera is a black and white standard video camera. The filters are chosen to cover the visible spectral bands of remote sensing interest. (3) A processor and mass memory arrangement linked to the cameras. Video signals from the cameras are digitized, compressed in the processor, and stored in a large static RAM bank. The processor is a multi-chip module consisting of a T800 Transputer and three Zoran floating point Digital Signal Processors. This processor module was supplied under ARPA contract by the Space Computer Corporation to demonstrate its use in space.

Maier, Mark W.↗

Development of the command data system and ground software for the SEDSAT-1 microsatellite

SEDSAT-1 is designed to be a low cost scientific satellite which is to be used to perform a minimum of five tasks which include: (1) the acquisition of a number of important parameters associated with the tethering processes from the payloads perspective (such as accelerations incurred and imaging data of the tether during deployment), (2) to act as a remote sensing platform for making measurements of the Earth's Atmosphere (allowing research to be performed in such areas as vertical lightning observation, visible light spectrography, and cloud cover studies, (3) to act as a general purpose amateur radio communication satellite relaying information back to earth, (4) to demonstrate the feasibility of the deployment in low earth orbit of advanced technology such as the Gallium Arsenide Solar Cells, Nickel Metal Hydride batteries, and multi-chip module technology and, (5) to support student's active participation in applying the disciplines of engineering and science to space-based hardware platforms. The project includes the Three-axis Accelerometer System, TAS, Experiment which is designed to report the accelerations that the satellite undergoes during the tethering operations and during the second phase of the mission when the free floating satellite comes in contact with orbit debris. The SEASIS (SEDS Earth, Atmosphere, and Space Imaging System) is another SEDSAT experiment designed to provide images of the tether during its deployment and the earth during the second phase of the mission. To control these experiments and virtually all other satellite operations the Command Data System, CDS is employed. This system utilizes a moderate complexity micro-controller controlled by tasks operating under a real-time operating system to dynamically monitor and control the satellite. The scope of this researchers efforts has been in the general area of coordinating and assisting the student researchers with the development of the CDS and ground station interfaces. This included the low level CDS hardware design and the formulization of a general software plan and schedule for both the CDS and ground station portions of the project.

Wells, B. Earl↗

STS-75 Flight Day 1

On this first day of the STS-75 mission, the flight crew, Cmdr. Andrew Allen, Pilot Scott Horowitz, Payload Cmdr. Franklin Chang-Diaz, Payload Specialist Umberto Guidoni (Italy), and Mission Specialists Jeffrey Hoffman, Maurizio Cheli (ESA) and Claude Nicollier (ESA), were shown performing pre-launch and launching activities. This international space mission's primary objective is the deployment of the Tethered Satellite System Reflight (TSS-1R) to a 12 mile length from the shuttle, a variety of experiments, and the satellite retrieval. These experiments include: Research on Orbital Plasma Electrodynamics (ROPE); TSS Deployer Core Equipment and Satellite Core Equipment (DCORE/SCORE); Research on Electrodynamic Tether Effects (RETE); Magnetic Field Experiments for TSS Missions (TEMAG); Shuttle Electrodynamic Tether Systems (SETS); Shuttle Potential and Return Electron Experiment (SPREE); Tether Optical Phenomena Experiment (TOP); and Observations at the Earth's Surface of Electromagnetic Emissions by TSS (OESSE). The mission's secondary objectives were those experiments found in the United States Microgravity Payload-3 (USMP-3), which include: Advanced Automated Directional Solidification Furnace (AADSF); Material pour l'Etude des Phenomenes Interessant la Solidification sur Terre et en Orbite (MEPHISTO); Space Acceleration Measurement System (SAMS); Orbital Acceleration Research Experiment (OARE); Critical Fluid Scattering Experiment (ZENO); and Isothermal Dendritic Growth Experiment (IDGE).

Source record↗

Deployer Performance Results for the TSS-1 Mission

Performance of the Tethered Satellite System (TSS) Deployer during the STS-46 mission (July and August 1992) is analyzed in terms of hardware operation at the component and system level. Although only a limited deployment of the satellite was achieved (256 meters vs 20 kilometers planned), the mission served to verify the basic capability of the Deployer to release, control and retrieve a tethered satellite. - Deployer operational flexibility that was demonstrated during the flight is also addressed. Martin Marietta was the prime contractor for the development of the Deployer, under management of the NASA George C. Marshall Space Flight Center (MSFC). The satellite was provided by Alenia, Torino, Italy under contract to the Agencia Spaziale Italiana (ASI). Proper operation of the avionics components and the majority of mechanisms was observed during the flight. System operations driven by control laws for the deployment and retrieval of the satellite were also successful for the limited deployment distance. Anomalies included separation problems for one of the two umbilical connectors between the Deployer and satellite, tether jamming (at initial Satellite fly-away and at a deployment distance of 224 meters), and a mechanical interference which prevented tether deployment beyond 256 meters. The Deployer was used in several off-nominal conditions to respond to these anomalies, which ultimately enabled a successful satellite retrieval and preservation of hardware integrity for a future re-flight. The paper begins with an introduction defining the significance of the TSS-1 mission. The body of the paper is divided into four major sections: (1) Description of Deployer System and Components, (2) Deployer Components/Systems Demonstrating Successful Operation, (3) Hardware Anomalies and Operational Responses, and (4) Design Modifications for the TSS-1R Re-flight Mission. Conclusions from the TSS-1 mission, including lessons learned are presented at the end of the manuscript.

Marshall, Leland S.↗

TSS-1R Failure Mode Evaluation

Soon after the break of the tether during the Tethered Satellite System (TSS-1R) mission in February, 1996, a Tiger Team was assembled at the George C. Marshall Space Flight Center to determine the tether failure mode. One possible failure scenario was the Kevlar' strength member of the tether failed because of degradation due to electrical discharge or electrical arcing. During the next several weeks, extensive electrical discharge testing in low vacuum and plasma environments was conducted in an attempt to reproduce the electrical activity recorded by on-board science instruments during the mission. The results of these tests are presented in this paper.

Vaughn, Jason A.↗

Satellite Motion Effects on Current Collection in Low Earth Orbit

Results from the Tethered Satellite System (TSS) missions unambiguously show that the electrodynamic tether system produced 2 to 3 times the predicted current levels in the tether. The pre-mission predictions were based on the well-known Parker-Murphy (PM) model, which describes the collection of current by an electrically biased satellite in the ionospheric plasma. How the TSS satellite was able to collect 2-3 times the PM current has remained an open question. In the present study, self-consistent potential and motional effects are introduced into the Thompson and Dobrowolny sheath models. As a result, the magnetic field aligned sheath-an essential variable in determining current collection by a satellite-is derived and is shown to be explicitly velocity dependent. The orientation of the satellite's orbital motion relative to the geomagnetic field is also considered in the derivation and a velocity dependent expression for the collected current is obtained. The resulting model provides a realistic treatment of current collection by a satellite in low earth orbit. Moreover, the predictions, using the appropriate parameters for TSS, are in good agreement with the tether currents measured during the TSS-1R mission.

Zhang, T. X.↗

Expected Deployment Dynamics of Proseds

The control law for The Propulsive Small Expendable Deployment System (ProSEDS) deployment is a modification of the control routine that was successfully used in the flight of SEDS-II. Unlike SEDS, the tether of ProSEDS consists of different sections with different mechanical characteristics. A non-linear control trajectory in phase-space (i.e., the reference profile) is fed forward to the controller to guide the satellite, at the tether tip, to the desired final state under nominal conditions and no external perturbations. A linear feedback control is applied by the brake to keep the actual trajectory as close as possible to the reference. The paper also shows the results of simulations of deployment dynamics with and without noise. The control law has thus far been developed and tested on the ground for the original ProSEDS tether configuration of 15 km. A new reference will have to be designed and tested for other tether configurations.

Lorenzini, E. C.↗

External and Internal Reconnection in Two Filament-Carrying Magnetic-Cavity Solar Eruptions

We observe two near-limb solar filament eruptions, one of 2000 February 26 and the other of 2002 January 4. For both we use 195 Angstroms Fe XII images from the Extreme-Ultraviolet (EUV) Imaging Telescope (EIT) and magnetograms from the Michelson Doppler Imager (MDI), both on the Solar and Heliospheric Observatory (SOHO) satellite. For the earlier event we also use soft X-ray telescope (SXT), hard X-ray telescope (HXT), and Bragg Crystal Spectrometer (BCS) data from the Yohkoh satellite, and hard X-ray data from the BATSE experiment on the Compton Gamma Ray Observatory (CGRO). Both events occur in quadrupolar magnetic regions, and both have coronal features that we infer belong to the same magnetic-cavity structures as the filaments. In both cases the cavity and filament first rise slowly at approximately 10 kilometers per second prior to eruption, and then accelerate to approximately 100 kilometers per second during the eruption, although the slow-rise movement for the higher-altitude cavity elements is clearer in the later event. We estimate both filaments and both cavities to contain masses of approximately 10(exp 14-15) g and approximately 10(exp 15-16) g respectively. We consider whether two specific magnetic-reconnection-based models for eruption onset, the tether cutting and the breakout models, are consistent with our observations. In the earlier event soft X-rays from SXT show an intensity increase during the 12-minute interval over whch fast eruption begins, which is consistent with tether-cutting-model predictions. Substantial hard X-rays, however, do not occur until after fast eruption is underway, and so this is a constraint the tether-cutting model must satisfy. During the same 12-minute interval over which fast eruption begins, there are brightenings and topological changes in the corona indicative of high-altitude reconnection early in the eruption, and this is consistent with breakout predictions. In both eruptions, however, the onset of the filament fast-rise phase occurs while overlying cavity-related coronal loops are still evolving from a "closed" state to an "open" state, and our observations of the time evolution of these loops compared to the eruption state in both events are constraints the breakout model must meet. Therefore our findings are consistent with runaway-tether-cutting-type reconnection and fast breakout-type reconnection both occurring early in the fast phase of the February eruption and with both types of reconnection being important in unleashing the explosion, but we are not able to say which, if either, type of reconnection actually triggered the fast phase. We have also found specific constraints that either model, or any other model, must satisfy if correct.

Sterling, Alphonse C.↗

External and Internal Reconnection in Two Filament-Carrying Magnetic Cavity Solar Eruptions

We observe two near-limb solar filament eruptions. one of 2000 February 26 and the other of 2002 January 4. For both we use 195 A Fe XII images from the Extreme-Ultraviolet Imaging Telescope (EIT) and magnetograms from the Michelson Doppler Imager (MDI). both of which are on the Solar and Heliospheric Observatory. (SOHO). For the earlier event we also use soft X-ray telescope (SXT). hard X-ray telescope (HXT). and Bragg Crystal Spectrometer (BCS) data from the Yohkoh satellite. and hard X-ray data from the BATSE experiment on the Compton Gamma Ray Observatory. (CGRO). Both events occur in quadrupolar magnetic regions. and both have coronal features that we infer belong to the same magnetic cavity structures as the filaments. In both cases. the cavity and filament first rise slowly at approx. 10 km/s prior to eruption and then accelerate to approx. 100 km/s during the eruption. although the slow-rise movement for the higher altitude cavity elements is clearer in the later event. We estimate that both filaments and both cavities contain masses of approx. 10(exp14) - 1 0(exp 15) and approx. l0(exp 15) - l0(exp 16) g. respectively. We consider whether two specific magnetic reconnection-based models for eruption onset. the "tether cutting" and the "breakout" models. are consistent with our observations. In the earlier event, soft X-rays from SXT show an intensity increase during the 12 minute interval over which fast eruption begins. which is consistent with tether- cutting-model predictions. Substantial hard X-ray. however. do not occur until after fast eruption is underway. and so this is a constraint the tether-cutting model must satisfy. During the same 12 minute interval over which fast eruption begins, there are brightenings and topological changes in the corona indicative of high-altitude reconnection early in the eruption. and this is consistent with breakout predictions. In both eruptions. the state of the overlying loops at the time of onset of the fast-rise phase of the corresponding filament can be compared with expectations from the breakout model. thereby setting constraints that the breakout model must meet. Our findings are consistent with both runaway tether-cutting-type reconnection and fast breakout-type reconnection. occurring early in the fast phase of the February eruption and with both types of reconnection being important in unleashing the explosion, but we are not able to say which. if either, type of reconnection actually triggered the fast phase. In any case. we have found specific constraints that either model. or any other model. must satisfy if correct.

Sterling, Alphonse C.↗

External and Internal Reconnection in Two Filament-Carrying Magnetic-Cavity Solar Eruptions

We observe two near-limb solar filament eruptions, one of 2000 February 26 and the other of 2002 January 4. For both we use 195 Angstroms, Fe XII images from the Extreme-Ultraviolet Imaging Telescope (EIT) and magnetograms from the Michelson Doppler Imager (MDI), both of which are on the Solar arid Heliospheric Observatory (SOHO). For the earlier event we also use soft X-ray telescope (SXT), hard X-ray telescope (HXT), and Bragg Crystal Spectrometer (BCS) data from the Yohkoh satellite, and hard X-ray data from the BATSE experiment on the Compton Gamma Ray Observation, (CGRO). Both events occur in quadrupolar magnetic regions, and both have coronal features that we infer belong to the same magnetic cavity structures as the filaments. In both cases, the cavity and filament first rise slowly at approximately 10 kilometers per second prior to eruption and then accelerate to approximately 100 kilometers per second during the eruption, although the slow-rise movement for the higher altitude cavity elements is clearer in the later event. We estimate that both filaments and both cavities contain masses of approximately 10(exp 14)-10(exp 15) and approximately 10(exp 15)-10(exp 16)g, respectively. We consider whether two specific magnetic reconnection-based models for eruption onset, the tether cutting and the breakout models, are consistent with our observations. In the earlier event, soft X-rays from SXT show an intensity increase during the 12 minute interval over which fast eruption begins, which is consistent with tether-cutting-model predictions. Substantial hard X-rays, however, do not occur until after fast eruption is underway, and so this is a constraint the tether-cutting model must satisfy. During the same 12 minute interval over which fast eruption begins, there are brightenings and topological changes in the corona indicative of high-altitude reconnection early in the eruption, and this is consistent with breakout predictions. In both eruptions, the state of the overlying loops at the time of onset of the fast-rise phase of the corresponding filament can be compared with expectations from the breakout model, thereby setting constraints that the breakout model must meet. Our findings are consistent with both runaway tether-cutting-type reconnection and fast breakout-type reconnection, occurring early in the fast phase of the February eruption and with both types of reconnection being important in unleashing the explosion, but we are not able to say which, if either, type of reconnection actually triggered the fast phase. In any case, we have found specific constraints that either model, or any other model, must satisfy if correct.

Sterling, Alphonse C.↗

External and Internal Reconnection in Two Filament-Carrying Magnetic-Cavity Solar Eruptions

We observe two near-limb solar filament eruptions, one of 2000 February 26 and the other of 2002 January 4. For both we use 195 A Fe XII images from the Extreme-Ultraviolet Imaging Telescope (EIT) and magnetograms from the Michelson Doppler Imager (MDI), both of which are on the Solar and Heliospheric Observatory (SOHO). For the earlier event we also use soft X-ray telescope (SXT), hard X-ray telescope (HXT), and Bragg Crystal Spectrometer (BCS) data from the Yohkoh satellite, and hard X-ray data from the BATSE experiment on the Compton Gamma Ra.v Observatory (CGRO). Both events occur in quadrupolar magnetic regions, and both have coronal features that we infer belong to the same magnetic cavity structures as the filaments. In both cases, the cavity and filament first rise slowly at approx.10 km/s prior to eruption and then accelerate to approx.100 km/s during the eruption, although the slow-rise movement for the higher altitude cavity elements is clearer in the later event. We estimate that both filaments and both cavities contain masses of approx.10(exp 14)-10(exp 15) and approx.10(exp 15)-10(exp 16) g, respectively. We consider whether two specific magnetic reconnection-based models for eruption onset, the "tether cutting" and the "breakout" models, are consistent with our observations. In the earlier event, soft X-rays from SXT show an intensity increase during the 12 minute interval over which fast eruption begins, which is consistent with tether- cutting-model predictions. Substantial hard X-rays, however, do not occur until after fast eruption is underway, and so this is a constraint the tether-cutting model must satisfy. During the same 12 minute interval over which fast eruption begins, there are brightenings and topological changes in the corona indicative of high-altitude reconnection early in the eruption, and this is consistent with breakout predictions. In both eruptions, the state of the overlying loops at the time of onset of the fast-rise phase of the corresponding filament can be compared with expectations from the breakout model, thereby setting constraints that the breakout model must meet. Our findings are consistent with both runaway tether-cutting-type reconnection and fast breakout-type reconnection, occurring early in the fast phase of the February eruption and with both types of reconnection being important in unleashing the explosion, but we are not able to say which, if either, type of reconnection actually triggered the fast phase. In any case, we have found specific constraints that either model, or any other model, must satisfy if correct.

Sterling, Alphonse C.↗

Shape and Reconnection of the Exploding Magnetic Field in the Onset of CMEs

From chromospheric and coronal images and line-of-sight and vector magnetograms of magnetic regions that produce CMEs, and from chromospheric and coronal movies of the onsets of CME eruptions, it appears that the magnetic field that explodes to drive the CME is initially the strongly sheared core of a magnetic arcade encasing a polarity dividing line in the magnetic flux. Before or during the onset of the explosion, the sheared core field becomes a flux rope, often carrying chromospheric material within it. For the erupting flux rope to drive the explosion, that is, for its magnetic energy content to decrease in the explosion, the flux rope's cross-sectional area must increase faster than its length. For instance, for isotropic expansion, the area increases as the square of the length, and the magnetic energy content of the flux rope decreases as the inverse of the length. The instability that initiates the eruption of the flux rope might be an ideal MHD kink instability, or might involve runaway tether-cutting reconnection. The reconnection begins below the flux rope (internal to the arcade) when the overall field configuration of the region is effectively that of a single bipole. When the flux rope resides in a multi- bipolar configuration having a magnetic null above the flux rope, the runaway tether- cutting reconnection might begin either below the flux rope or at the null above (external to) the arcade. We present examples of observed CME onsets that illustrate the above alternatives. In each example, reconnection below the flux rope begins early in the eruption. This indicates that internal tether cutting reconnection (classic tether-cutting reconnection) is important in unleashing the CME explosion in all cases, including those in which the explosion may be triggered by MHD kinking or by external reconnection (classic breakout reconnection).

Moore, R. L.↗

Aerothermodynamic Analyses of Towed Ballutes

A ballute (balloon-parachute) is an inflatable, aerodynamic drag device for application to planetary entry vehicles. Two challenging aspects of aerothermal simulation of towed ballutes are considered. The first challenge, simulation of a complete system including inflatable tethers and a trailing toroidal ballute, is addressed using the unstructured-grid, Navier-Stokes solver FUN3D. Auxiliary simulations of a semi-infinite cylinder using the rarefied flow, Direct Simulation Monte Carlo solver, DSV2, provide additional insight into limiting behavior of the aerothermal environment around tethers directly exposed to the free stream. Simulations reveal pressures higher than stagnation and corresponding large heating rates on the tether as it emerges from the spacecraft base flow and passes through the spacecraft bow shock. The footprint of the tether shock on the toroidal ballute is also subject to heating amplification. Design options to accommodate or reduce these environments are discussed. The second challenge addresses time-accurate simulation to detect the onset of unsteady flow interactions as a function of geometry and Reynolds number. Video of unsteady interactions measured in the Langley Aerothermodynamic Laboratory 20-Inch Mach 6 Air Tunnel and CFD simulations using the structured grid, Navier-Stokes solver LAURA are compared for flow over a rigid spacecraft-sting-toroid system. The experimental data provides qualitative information on the amplitude and onset of unsteady motion which is captured in the numerical simulations. The presence of severe unsteady fluid - structure interactions is undesirable and numerical simulation must be able to predict the onset of such motion.

Gnoffo, Peter A.↗

Morpheus: Advancing Technologies for Human Exploration

NASA's Morpheus Project has developed and tested a prototype planetary lander capable of vertical takeoff and landing. Designed to serve as a vertical testbed (VTB) for advanced spacecraft technologies, the vehicle provides a platform for bringing technologies from the laboratory into an integrated flight system at relatively low cost. This allows individual technologies to mature into capabilities that can be incorporated into human exploration missions. The Morpheus vehicle is propelled by a LOX/Methane engine and sized to carry a payload of 1100 lb to the lunar surface. In addition to VTB vehicles, the Project s major elements include ground support systems and an operations facility. Initial testing will demonstrate technologies used to perform autonomous hazard avoidance and precision landing on a lunar or other planetary surface. The Morpheus vehicle successfully performed a set of integrated vehicle test flights including hot-fire and tethered hover tests, leading up to un-tethered free-flights. The initial phase of this development and testing campaign is being conducted on-site at the Johnson Space Center (JSC), with the first fully integrated vehicle firing its engine less than one year after project initiation. Designed, developed, manufactured and operated in-house by engineers at JSC, the Morpheus Project represents an unprecedented departure from recent NASA programs that traditionally require longer, more expensive development lifecycles and testing at remote, dedicated testing facilities. Morpheus testing includes three major types of integrated tests. A hot-fire (HF) is a static vehicle test of the LOX/Methane propulsion system. Tether tests (TT) have the vehicle suspended above the ground using a crane, which allows testing of the propulsion and integrated Guidance, Navigation, and Control (GN&C) in hovering flight without the risk of a vehicle departure or crash. Morpheus free-flights (FF) test the complete Morpheus system without the additional safeguards provided during tether. A variety of free-flight trajectories are planned to incrementally build up to a fully functional Morpheus lander capable of flying planetary landing trajectories. In FY12, these tests will culminate with autonomous flights simulating a 1 km lunar approach trajectory, hazard avoidance maneuvers and precision landing in a prepared hazard field at the Kennedy Space Center (KSC). This paper describes Morpheus integrated testing campaign, infrastructure, and facilities, and the payloads being incorporated on the vehicle. The Project s fast pace, rapid prototyping, frequent testing, and lessons learned depart from traditional engineering development at JSC. The Morpheus team employs lean, agile development with a guiding belief that technologies offer promise, but capabilities offer solutions, achievable without astronomical costs and timelines.

Olansen, Jon B.↗

On the Design of the Axel and DuAxel Rovers for Extreme Terrain Exploration

The solar system's most scientifically tantalizing terrain remains out of reach for traditional planetary rovers, which are typically limited to driving on slopes below 30 degrees. This paper details the design of a novel robotic explorer that would open access to these previously inaccessible locales, such as Martian crater walls where evidence of salty water was recently detected, Lunar polar craters where evidence of water ice was detected, and Lunar and Martian lava tubes for future habitability. The Axel rover is a two-wheeled robot capable of rappelling down steep (even vertical) slopes supported by a tether. The DuAxel rover is comprised of two Axel vehicles docked to a central module. Unrestricted by tether length, this four-wheeled system would be capable of driving long distances from a safe landing zone to the extreme terrain of interest. Once in the vicinity of terrain in which the tether would be required, one of the Axel rovers could undock from the central chassis and rappel downslope. The other Axel and central chassis would remain topside to act as an anchor and to provide line of site to Earth (for communications) and the Sun (for energy). As the detached Axel descends into the area of interest, it would receive power and relays data through conductors in its tether. Each Axel would carry a suite of instruments in a bay that would be tucked inside the wheels. Because of the novel configuration of Axel's major degrees of freedom, these instruments could be precisely pointed at targets at any desired downslope spatial separation. These instruments could then be deployed into close proximately to the ground by means of a simple mechanism, allowing for detailed study of the strata on the slope. Axel could accommodate a host of instruments, including a microscopic imager, infra-red spectrometers, thermal probes, and sample collection devices. This paper will describe the design of both the latest generation of Axel and DuAxel systems and their instrument/sampling mechanisms. Results from recent field trials at a rock quarry in California and a Martian analog site in the desert of Arizona will be described.

rover mobility↗