Titan Submarine - an Extraterrestrial Submarine for Titan's Cryogenic Seas
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Oleson, Steve↗
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The Human Powered Submarine Team of Virginia Tech Propulsion System Design Final Report
The Human Powered Submarine Team has been in existence at Virginia Tech since its conception in 1993. Since then, it has served as a way for engineering students from many different disciplines to implement design conception and realization. The first submarine built was Phantom 1, a two-man submarine made of fiberglass. After construction was complete, Phantom 1 was ready for racing, but, unfortunately, suffered fatal problems come race time. The submarine team slowed down a bit after experiencing racing problems, but was revived in 1995 when design efforts for a new two-man submarine, the Phantom 2 commence. The propulsion system consisted of a chain and gear drive system using an ultra-light helicopter tail rotor for a propeller. Although the team learned valuable lessons as a result of Phantom 1's problems, Phantom 2 still experiences problems at races. After various parts of Phantom 2 are redesigned, it is once again ready for racing and proves that the redesign was well worth the time and effort. In 1997, Phantom 2 not only finishes its first race, held in San Diego, California, but comes in third. This success sparks yet another revival of the submarine team and design for the team's current project, the Phantom 3, a one-man submarine, is started. In 1998, the plug for Phantom 3 is built and the hull is constructed. With so many past problems from which to learn, Phantom 3 promises to be the fastest and best-designed submarine the team has developed thus far. The current speed world-record is 7 knots.
An, Eric↗
Phase 1 Final Report: Titan Submarine
The conceptual design of a submarine for Saturn's moon Titan was a funded NASA Innovative Advanced Concepts (NIAC) Phase 1 for 2014. The proposal stated the desire to investigate what science a submarine for Titan's liquid hydrocarbon seas might accomplish and what that submarine might look like. Focusing on a flagship class science system (100 kg), it was found that a submersible platform can accomplish extensive science both above and below the surface of the Kraken Mare. Submerged science includes mapping using side-looking sonar, imaging and spectroscopy of the lake, as well as sampling of the lake's bottom and shallow shoreline. While surfaced, the submarine will not only sense weather conditions (including the interaction between the liquid and atmosphere) but also image the shoreline, as much as 2 km inland. This imaging requirement pushed the landing date to Titan's next summer period (2047) to allow for lighted conditions, as well as direct-to-Earth communication, avoiding the need for a separate relay orbiter spacecraft. Submerged and surfaced investigation are key to understanding both the hydrological cycle of Titan as well as gather hints to how life may have begun on Earth using liquid, sediment, and chemical interactions. An estimated 25 Mb of data per day would be generated by the various science packages. Most of the science packages (electronics at least) can be safely kept inside the submarine pressure vessel and warmed by the isotope power system.The baseline 90-day mission would be to sail submerged and surfaced around and through Kraken Mare investigating the shoreline and inlets to evaluate the sedimentary interaction both on the surface and then below. Depths of Kraken have yet to be sensed (Ligeia to the north is thought to be 200 m (656 ft) deep), but a maximum depth of 1,000 m (3,281 ft) for Kraken Mare was assumed for the design). The sub would spend 20 d at the interface between Kraken Mare and Ligeia Mare for clues to the drainage of liquid methane into the currently predicted predominantly ethane Kraken Mare. During an extended ninety-day mission, it would transit the throat of Kraken (now Seldon Fretum) and perform similar explorations in other areas of Kraken Mare. Once this half year of exploration is completed the submarine could be tasked to revisit points of interest and perhaps do a complete sonar mapping of the seas. All in all, the submarine could explore over 3,000 km (1,864 mi) in its primary mission at an average speed of 0.3 meters per second.
Titan↗
Multifrequency radiometer detection of submarine freshwater sources along the Puerto Rican coastline
The surface area above submarine springs of fresh water exhibit temperatures and salinities lower than the surrounding sea waters. A multifrequency radiometer system which earlier demonstrated an accuracy of 1 degree C and 1 part per thousand in remotely detecting the surface temperature and salinities, respectively, was used to detect submarine freshwater springs. The first mission on February 4, 1978, consisted of overflight measurements over three fourths of the coastal areas around the Island of Puerto Rico. During the second mission on February 6, 1978, special attention was directed to the northwest portion of Puerto Rico where several submarine springs had been reported. The previously reported spring locations correlated well with the locations detected by the radiometers. After separating the surface runoffs such as rivers, lagoons, marshes, and bays, 44 submarine freshwater springs were identified which indicates that the submarine freshwater outflow locations are more numerous around the island than had earlier been estimated. The majority of the submarine springs are located at the northwest and southeast portion of the Puerto Rican coastline. The success of detecting the same submarine springs during both missions at the northwest portion of the island was 39%.
Blume, H.-J. C.↗
Chemical environments of submarine hydrothermal systems
Perhaps because black-smoker chimneys make tremendous subjects for magazine covers, the proposal that submarine hydrothermal systems were involved in the origin of life has caused many investigators to focus on the eye-catching hydrothermal vents. In much the same way that tourists rush to watch the spectacular eruptions of Old Faithful geyser with little regard for the hydrology of the Yellowstone basin, attention is focused on the spectacular, high-temperature hydrothermal vents to the near exclusion of the enormous underlying hydrothermal systems. Nevertheless, the magnitude and complexity of geologic structures, heat flow, and hydrologic parameters which characterize the geyser basins at Yellowstone also characterize submarine hydrothermal systems. However, in the submarine systems the scale can be considerably more vast. Like Old Faithful, submarine hydrothermal vents have a spectacular quality, but they are only one fascinating aspect of enormous geologic systems operating at seafloor spreading centers throughout all of the ocean basins. A critical study of the possible role of hydrothermal processes in the origin of life should include the full spectrum of probable environments. The goals of this chapter are to synthesize diverse information about the inorganic geochemistry of submarine hydrothermal systems, assemble a description of the fundamental physical and chemical attributes of these systems, and consider the implications of high-temperature, fluid-driven processes for organic synthesis. Information about submarine hydrothermal systems comes from many directions. Measurements made directly on venting fluids provide useful, but remarkably limited, clues about processes operating at depth. The oceanic crust has been drilled to approximately 2.0 km depth providing many other pieces of information, but drilling technology has not allowed the bore holes and core samples to reach the maximum depths to which aqueous fluids circulate in oceanic crust. Such determinations rely on studies of pieces of deep oceanic crust uplifted by tectonic forces such as along the Southwest Indian Ridge, or more complete sections of oceanic crust called ophiolite sequences which are presently exposed on continents owing to tectonic emplacement. Much of what is thought to happen in submarine hydrothermal systems is inferred from studies of ophiolite sequences, and especially from the better-exposed ophiolites in Oman, Cyprus and North America. The focus of much that follows is on a few general features: pressure, temperature, oxidation states, fluid composition and mineral alteration, because these features will control whether organic synthesis can occur in hydrothermal systems.
Shock, Everett L.↗
US Navy Submarine Sea Trial of the NASA Air Quality Monitor
For the past four years, the Air Quality Monitor (AQM) has been the operational instrument for measuring trace volatile organic compounds on the International Space Station (ISS). The key components of the AQM are the inlet preconcentrator, the gas chromatograph (GC), and the differential mobility spectrometer. Most importantly, the AQM operates at atmospheric pressure and uses air as the GC carrier gas, which translates into a small reliable instrument. Onboard ISS there are two AQMs, with different GC columns that detect and quantify 22 compounds. The AQM data contributes valuable information to the assessment of air quality aboard ISS for each crew increment. The U.S. Navy is looking to update its submarine air monitoring suite of instruments, and the success of the AQM on ISS has led to a jointly planned submarine sea trial of a NASA AQM. In addition to the AQM, the Navy is also interested in the Multi-Gas Monitor (MGM), which was successfully flown on ISS as a technology demonstration to measure major constituent gases (oxygen, carbon dioxide, water vapor, and ammonia). A separate paper will present the MGM sea trial results. A prototype AQM, which is virtually identical to the operational AQM, has been readied for the sea trial. Only one AQM will be deployed during the sea trial, but it is sufficient to detect the compounds of interest to the Navy for the purposes of this trial. A significant benefit of the AQM is that runs can be scripted for pre-determined intervals and no crew intervention is required. The data from the sea trial will be compared to archival samples collected prior to and during the trial period. This paper will give a brief overview of the AQM technology and protocols for the submarine trial. After a quick review of the AQM preparation, the main focus of the paper will be on the results of the submarine trial. Of particular interest will be the comparison of the contaminants found in the ISS and submarine atmospheres, as both represent closed environments. In U.K. submarine trials in the early 2000s, the submarine and ISS atmospheres were found to be remarkably similar.
Limero, Thomas↗
Solidification and morphology of submarine lavas - A dependence on extrusion rate
The results of recent laboratory experiments with wax extruded beneath relatively cold water may be extrapolated to predict the surface morphology of submarine lavas as a function of the extrusion rate and melt viscosity. The experiments with solidifying wax indicated that the surface morphology was controlled by a single parameter, the ratio of the time taken for the surface to solidify, and a time scale for lateral flow. For submarine basalts a solution of the cooling problem (which is dominated by conduction in the lava but convective heat transfer in the water) and estimates of lava viscosities place this parameter within the empirically determined 'pillowing' regime over a wide range of extrusion rates. This results is consistent with the observation that pillow basalts are the most common products of submarine eruptions. Smoother surfaces corresponding to the various types of submarine sheet flows are predicted for sufficiently rapid extrusion of basaltic magma. Still higher eruption rates in regions of low topographic relief may produce submarine lava lakes. Minimum emplacement times can be calculated for submarine volcanic constructs of a single lava flow type.
Griffiths, Ross W.↗
Exploring the Geochemistry of Tholeiitic Basalts and Hyaloclastites Formed in Submarine Volcanoes for Comparison With Venus Lavas
Underwater basaltic lavas exhibit distinct rock textures, mineralogy and morphological differences compared to those formed on land, primarily due to rapid cooling caused by contact with cold seawater instead of air and to high pressures – similar to Venus. The geomorphological similarities between terrestrial submarine volcanoes and some morphological classes of Venusian volcanoes have been investigated, but a comprehensive comparison in geochemical terms has yet to be conducted. Only three missions to Venus (Venera-13, Venera-14, and Vega-2) were able to report bulk composition of Venusian rocks, while other four missions (Venera-8, Venera-9, Venera-10, and Vega-1) provided limited geochemical information. Using X-Ray fluorescent (XRF) analysis, we saw that rocks analyzed on the surface of Venus are tholeiitic and alkalic basalts. This study, as part of the “Analogs for VENus's GEologically Recent Surfaces” (AVENGERS) initiative, aims to examine the possibility of seamounts/submarine volcanoes lavas serving as analogues to Venus lava geochemistry and morphology/formational processes. By sampling and analyzing submarine lavas from three distinct tectonic settings on Earth - hot-spot, convergent margins, and divergent margins - we will assess in which tectonic context the analogy with Venus is most comparable. Fieldwork will be conducted in further detail for submarine volcanoes located in Sicily, Hawaiʻi, and the Southern Pacific (Fiji, Vanuatu, Tonga, Samoa); we will use previously collected samples where these submarine areas are not accessible. Sampling efforts will target areas likely to yield submarine tholeiitic lavas and/or hyaloclastites. Samples collected during fieldwork will undergo detailed whole-rock geochemical analysis, including XRF, X-Ray diffraction (XRD) and Inductively Coupled Plasma Mass Spectrometry (ICPMS). Thin sections will be used to constrain differences in morphology/textures. The obtained geochemical data will then be compared with existing data on Venusian lava geochemistry, allowing for a comprehensive evaluation of potential analogies between submarine lavas from Earth and volcanic rocks on Venus. By elucidating these similarities and pinpointing specific tectonic contexts, our study has the potential to enhance our understanding of Venusian geology and the possibility of ephemeral plate tectonics on the planet.
N Mari↗
Titan Submarine: Exploring The Depths of Kraken Mare
The conceptual design of a submarine for Saturn's moon Titan was a funded NASA Innovative Advanced Concepts (NIAC) Phase I for 2014. The effort investigated what science a submarine for Titan's liquid hydrocarbon approximately 93 Kelvin (-180 degrees Centigrade) seas might accomplish and what that submarine might look like. Focusing on a flagship class science system (approximately100 kilograms) it was found that a submersible platform can accomplish extensive and exciting science both above and below the surface of the Kraken Mare The submerged science includes mapping using side looking sonar, imaging and spectroscopy of the sea at all depths, as well as sampling of the sea's bottom and shallow shoreline. While surfaced the submarine will not only sense weather conditions (including the interaction between the liquid and atmosphere) but also image the shoreline, as much as 2 kilometers inland. This imaging requirement pushed the landing date to Titan's next summer period (approximately 2047) to allow for continuous lighted conditions, as well as direct-to-Earth (DTE) communication, avoiding the need for a separate relay orbiter spacecraft. Submerged and surfaced investigation are key to understanding both the hydrological cycle of Titan as well as gather hints to how life may have begun on Earth using liquid/sediment/chemical interactions. An estimated 25 megabits of data per day would be generated by the various science packages. Most of the science packages (electronics at least) can be safely kept inside the submarine pressure vessel and warmed by the isotope power system. This paper discusses the results of Phase I as well as the plans for Phase II.
submarine↗
Submarine fresh water outflow detection with a dual-frequency microwave and an infrared radiometer system
Since infrared measurements are only very slightly affected by whitecap and banking angle influences, the combined multifrequency radiometric signatures of the L-band, the S-band, and an infrared radiometer are used in identifying freshwater outflows (submerged and superficial). To separate the river and lagoon outflows from the submarine outflows, geographical maps with a scale of 1:100,000 are used. In all, 44 submarine freshwater springs are identified. This is seen as indicating that the submarine freshwater outflow locations are more numerous around the island than had earlier been estimated. Most of the submarine springs are located at the northwest and southeast portion of the Puerto Rican coastline; the success in detecting the submarine springs during both missions at the northwest portion of the island is 39%. Salinity and temperature distribution plots along the flight path in longitude and latitude coordinates reveal that runoff direction can be determined.
Blume, H.-J. C.↗
Hemispherical Field-of-View Above-Water Surface Imager for Submarines
A document discusses solutions to the problem of submarines having to rise above water to detect airplanes in the general vicinity. Two solutions are provided, in which a sensor is located just under the water surface, and at a few to tens of meter depth under the water surface. The first option is a Fish Eye Lens (FEL) digital-camera combination, situated just under the water surface that will have near-full- hemisphere (360 azimuth and 90 elevation) field of view for detecting objects on the water surface. This sensor can provide a three-dimensional picture of the airspace both in the marine and in the land environment. The FEL is coupled to a camera and can continuously look at the entire sky above it. The camera can have an Active Pixel Sensor (APS) focal plane array that allows logic circuitry to be built directly in the sensor. The logic circuitry allows data processing to occur on the sensor head without the need for any other external electronics. In the second option, a single-photon sensitive (photon counting) detector-array is used at depth, without the need for any optics in front of it, since at this location, optical signals are scattered and arrive at a wide (tens of degrees) range of angles. Beam scattering through clouds and seawater effectively negates optical imaging at depths below a few meters under cloudy or turbulent conditions. Under those conditions, maximum collection efficiency can be achieved by using a non-imaging photon-counting detector behind narrowband filters. In either case, signals from these sensors may be fused and correlated or decorrelated with other sensor data to get an accurate picture of the object(s) above the submarine. These devices can complement traditional submarine periscopes that have a limited field of view in the elevation direction. Also, these techniques circumvent the need for exposing the entire submarine or its periscopes to the outside environment.
Hemmati, Hamid↗
NASA/Navy Benchmarking Exchange (NNBE). Volume 1. Interim Report. Navy Submarine Program Safety Assurance
The NASA/Navy Benchmarking Exchange (NNBE) was undertaken to identify practices and procedures and to share lessons learned in the Navy's submarine and NASA's human space flight programs. The NNBE focus is on safety and mission assurance policies, processes, accountability, and control measures. This report is an interim summary of activity conducted through October 2002, and it coincides with completion of the first phase of a two-phase fact-finding effort.In August 2002, a team was formed, co-chaired by senior representatives from the NASA Office of Safety and Mission Assurance and the NAVSEA 92Q Submarine Safety and Quality Assurance Division. The team closely examined the two elements of submarine safety (SUBSAFE) certification: (1) new design/construction (initial certification) and (2) maintenance and modernization (sustaining certification), with a focus on: (1) Management and Organization, (2) Safety Requirements (technical and administrative), (3) Implementation Processes, (4) Compliance Verification Processes, and (5) Certification Processes.
SUBSAFE PROGRAM↗
Submarine Volcanic Eruptions and Potential Analogs for Venus
As part of an analysis program to better understand the diversity of volcanic processes on the terrestrial planets, an investigation of the volcanic landforms which exist on the Earth's ocean floor was initiated. In part, this analysis is focused toward gaining a better understanding of submarine volcanic landforms in their own right, but also it is hoped that these features may show similarities to volcanic landforms on Venus, due to the high ambient water (Earth) and atmospheric (Venus) pressures. A series of numerical modelling experiments was performed to investigate the relative importance of such attributes as water pressure and temperature on the eruption process, and to determine the rate of cooling and emplacement of lava flows in the submarine environment. Investigations to date show that the confining water pressure and the buoyancy effects of the surrounding water significantly affect the styles of volcanism on the ocean floor. In the case of Venusian volcanism, confining pressures will not be as great as that found at the ocean's abyssal plains, but nevertheless the general trend toward reducing magma vesiculation will hold true for Venus as well as the ocean floor. Furthermore, other analogs may also be found between submarine volcanism and Venusian activity.
Wilson, L.↗
Crustal volumes of the continents and of oceanic and continental submarine plateaus
Using global topographic data and the assumption of Airy isostasy, it is estimated that the crustal volume of the continents is 7182 X 10 to the 6th cu km. The crustal volumes of the oceanic and continental submarine plateaus are calculated at 369 X 10 to the 6th cu km and 242 X 10 to the 6th cu km, respectively. The total continental crustal volume is found to be 7581 X 10 to the 6th cu km, 3.2 percent of which is comprised of continental submarine plateaus on the seafloor. An upper bound on the contintental crust addition rate by the accretion of oceanic plateaus is set at 3.7 cu km/yr. Subduction of continental submarine plateaus with the oceanic lithosphere on a 100 Myr time scale yields an upper bound to the continental crustal subtraction rate of 2.4 cu km/yr.
Schubert, G.↗
Reducing Unsteady Loads on a Piggyback Miniature Submarine
A small, simple fixture has been found to be highly effective in reducing destructive unsteady hydrodynamic loads on a miniature submarine that is attached in piggyback fashion to the top of a larger, nuclear-powered, host submarine. The fixture, denoted compact ramp, can be installed with minimal structural modification, and the use of it does not entail any change in submarine operations.
Lin, John↗
US Navy Submarine Sea Trial of NASA developed Multi-Gas Monitor
During a successful 2 year technology demonstration of the tunable diode laser spectroscopy (TDLS) based Multi-Gas Monitor (MGM) on the International Space Station (ISS), we began discussing with the US Navy the possibility of conducting a sea trial of an MGM on a submarine. The sea trial would also include a gas chromatography/differential mobility spectrometer based Air Quality Monitor (AQM), which is used operationally on ISS for select volatile organic compounds. AQM results will be the subject of a separate paper. The Navy’s interest in testing NASA equipment is in a planned update to the environmental monitoring equipment used aboard submarines. NASA’s goal is studying submarines as closed environment analogs to spacecraft. MGM’s core technology was developed by Vista Photonics Inc using Small Business Innovation Research (SBIR) grants and expanded for various applications using NASA program funding. The MGM measures oxygen, carbon dioxide, ammonia and water vapor in ambient air, displays concentrations with temperature and pressure, and stores 30 second moving averages. The sea trial involves colocating the instrument with the Central Air Monitor (CAM) and connecting it to rack power prior to departure, and letting it run during the entire sea trial of a few months duration. All data stored is inside MGM, with no connection to the vessel data bus. Crew intervention is limited to checking MGM periodically to see that it is working and power cycling if the display is OFF. After the trial is over, the unit with its data will be retrieved. Post sea trial calibration check and data analysis are planned and results will be compared with both CAM data and results from MGM’s ISS technology demonstration.
Mudgett, Paul D.↗
US Navy Submarine Sea Trial of NASA developed Multi-Gas Monitor
During a successful 2 year technology demonstration of the tunable diode laser spectroscopy (TDLS) based Multi-Gas Monitor (MGM) on the International Space Station (ISS), we began discussing with the US Navy the possibility of conducting a sea trial of an MGM on a submarine. The sea trial would also include a gas chromatography/differential mobility spectrometer based Air Quality Monitor (AQM), which is used operationally on ISS for volatile organic compound analysis. AQM preparation and results will be the subject of a separate paper. The Navy's interest in testing NASA equipment in general relates to their ongoing search for better air monitoring technology. NASA's goal is studying submarines as closed environment analogs to spacecraft. MGM's core technology was developed by Vista Photonics Inc. using Small Business Innovation Research (SBIR) grants and expanded for various applications using NASA program funding. The MGM measures oxygen, carbon dioxide, ammonia and water vapor in ambient air, displays concentrations with temperature and pressure, and stores 30 second moving averages. The sea trial involves collocating the instrument with the Central Atmosphere Monitoring System (CAMS Mk II) of the submarine, connecting it to rack power prior to departure, and letting it run during the entire 90 day patrol. All data is stored within MGM, with no connection to the vessel data bus. Crew intervention is limited to checking MGM periodically to see that it is working and power cycling if necessary. After the trial is over, the unit with its data will be retrieved. Post sea trial calibration check and data analysis are planned and results will be compared with both CAMS Mk II data and results from MGM's ISS technology demonstration. Since the sea trial itself has been delayed, this paper describes the preparation of MGM for the sea trial and also provides a summary of the latest data from the ISS MGM technology demonstration.
Mudgett, Paul D.↗
Preparation of the NASA Air Quality Monitor for a U.S. Navy Submarine Sea Trial
For the past 4 years, the Air Quality Monitor (AQM) has been the operational instrument for measuring trace volatile organic compounds on the International Space Station (ISS). The key components of the AQM are the inlet preconcentrator, the gas chromatograph (GC), and the differential mobility spectrometer. Onboard the ISS are two AQMs with different GC columns that detect and quantify 22 compounds. The AQM data contributes valuable information to the assessment of air quality aboard ISS for each crew increment. The US Navy is looking to update its submarine air monitoring suite of instruments and the success of the AQM on ISS has led to a jointly planned submarine sea trial of a NASA AQM. In addition to the AQM, the Navy is also interested in the Multi-Gas Monitor (MGM), which measures major constituent gases (oxygen, carbon dioxide, water vapor, and ammonia). A separate paper will present the MGM sea trial preparation and the analysis of most recent ISS data. A prototype AQM, which is virtually identical to the operational AQM, has been readied for the sea trial. Only one AQM will be deployed during the sea trial, but this is sufficient for NASA purposes and to detect the compounds of interest to the US Navy for this trial. The data from the sea trial will be compared to data from archival samples collected before, during, and after the trial period. This paper will start with a brief history of past collaborations between NASA and the U.S. and U.K. navies for trials of air monitoring equipment. An overview of the AQM technology and protocols for the submarine trial will be presented. The majority of the presentation will focus on the AQM preparation and a summary of available data from the trial.
Limero, Thomas↗