ALBERT

Description: Robotic exploration of Venus presents many challenges because of the thick atmosphere and the high surface temperatures. The Venus Aerobot Multisonde mission concept addresses these challenges by using a robotic balloon or aerobot to deploy a number of short lifetime probes or sondes to acquire images of the surface. A Venus aerobot is not only a good platform for precision deployment of sondes but is very effective at recovering high rate data. This paper describes the Venus Aerobot Multisonde concept and discusses a proposal to NASA's Discovery program using the concept for a Venus Exploration of Volcanoes and Atmosphere (VEVA). The status of the balloon deployment and inflation, balloon envelope, communications, thermal control and sonde deployment technologies are also reviewed.

Description: In this paper, we discuss steps towards the development of an autonomy architecture, and concentrate on the autonomous flight control subsystem.

Description: The nature of the martian south polar cap has remained enigmatic since the first spacecraft observations. In particular, the presence of a perennial carbon dioxide ice cap, the formation of a vast area of black slab ice known as the Cryptic region and the asymmetric springtime retreat of the cap have eluded explanation. Here we present observations and climate modelling that indicate the south pole of Mars is characterized by two distinct regional climates that are the result of dynamical forcing by the largest southern impact basins, Argyre and Hellas. The style of surface frost deposition is controlled by these regional climates. In the cold and stormy conditions that exist poleward of 60 degrees S and extend 180 degrees in longitude west from the Mountains of Mitchel (about 30 degrees W), surface frost accumulation is dominated by precipitation. In the opposite hemisphere, the polar atmosphere is relatively warm and clear and frost accumulation is dominated by direct vapour deposition. It is the differences in these deposition styles that determine the cap albedo.

Description: This is a Final Report for a Joint Research Interchange (JRI) between NASA Ames Research Center and San Jose State University, Department of Meteorology. We present below a summary of progress made during the duration of this JRI. The focus of this JRI has been to investigate seasonal water vapor transport in the atmosphere of Mars and its effects on the planet's present climate. To this end, the primary task has been to adapt a new dynamical processor for the adiabatic tendencies of the atmospheric circulation into the NASA Ames Mars general circulation model (MGCM). Using identical boundary and initial conditions, several comparative tests between the new and old MGCMs have been performed and the nature of the simulated circulations have been diagnosed. With confidence that the updated version of the Ames MGCM produces quite similar mean and eddy circulation statistics, the new climate model is well poised as a tool to pursue fundamental questions related to the spatial and seasonal variations of atmospheric water vapor on Mars, and to explore exchanges of water with non-atmospheric reservoirs and transport within its atmosphere. In particular, the role of surface sources and sinks can be explored, the range of water-vapor saturation altitudes can be investigated, and plausible precipitation mechanisms can be studied, for a range of atmospheric dust loadings. Such future investigations can contribute to a comprehensive study of surface inventories, exchange mechanisms, and the relative importance of atmospheric transport Mars' water cycle. A listing of presentations made and manuscripts submitted during the course of this project is provided.

Description: Robotic lighter-than-air vehicles, or aerobots, provide a strategic platform for the exploration of planets and moons with an atmosphere, such as Venus, Mars, Titan and the gas giants.

Description: This paper describes the design and component testing of an aerobot that would be capable of global in situ exploration of Saturn's moon, Titan, over a 6 to 12 month mission lifetime. The proposed aerobot is a propeller-driven, buoyant vehicle that resembles terrestrial airships. However, the extremely cold Titan environment requires the use of cryogenic materials of construction and careful thermal design for protection of temperature-sensitive payload elements. Multiple candidate balloon materials have been identified based on extensive laboratory testing at 77 K. The most promising materials to date are laminates comprised of polyester fabrics and/or films with areal densities in the range of 40-100 g/m2. The aerobot hull is a streamlined ellipsoid 14 meters in length with a maximum diameter of 3 meters. The enclosed volume of 60 m3 is sufficient to float a mass of 234 kg at a maximum altitude of 8 km at Titan. Forward and aft ballonets are located inside the hull to enable the aerobot to descend to the surface while preserving a fully inflated streamlined shape. Altitude changes are effected primarily through thrust vectoring of the twin main propellers, with pressure modulated buoyancy change via the ballonets available as a slower backup option. A total of 100 W of electrical power is provided to the vehicle by a radioisotope power supply. Up to half of this power is available to the propulsion system to generate a top flight speed in the range of 1-2 m/s. This speed is expected to be greater than the near surface winds at Titan, enabling the aerobot to fly to and hover over targets of interest. A preliminary science payload has been devised for the aerobot to give it the capability for aerial imaging of the surface, atmospheric observations and sampling, and surface sample acquisition and analysis. Targeting, hovering, surface sample acquisition and vehicle health monitoring and automatic safing actions will all require significant on-board autonomy due to the over two hour round trip light time between Titan and Earth. An autonomy architecture and a core set of perception, reasoning and control technologies is under development using a free-flying airship testbed of approximately the same size as the proposed Titan aerobot. Data volume from the Titan science mission is expected to be on the order of 100-300 Mbit per day transmitted either direct to Earth through an 0.8 m high gain antenna or via an orbiter relay using an omni-directional antenna on the aerobot.

Description: From late-autumn through early-spring, the middle- and high-latitudes of both hemispheres of Mars and its predominantly carbon-dioxide atmosphere support mean equator-to-pole thermal contrasts, and then, support a strong mean westerly polar vortex. Observations from orbiting spacecraft indicate that this intense mean baroclinicity-barotropicity supports large-scale eastward traveling weather systems (i.e., transient, traveling synoptic-period waves, on the order of the Rossby deformation scale). On Earth, extratropical weather disturbances arise from wind-shear instabilities, and these are critical components of the terrestrial global circulation. So it is the case for Mars. Large-scale traveling weather systems on Mars serve as agents in the transport of heat, momentum and scalar and tracer quantities (e.g., atmospheric dust, watervapor, ice clouds, chemical species, etc). Such weather systems interact with other large-scale atmospheric circulation components, namely, quasi-stationary (i.e., forced Rossby) modes; global thermal tidal modes; and then, upon large-/continental- geographical scales, upslope/ down-slope flows amongst high relief, low relief, impact basins, and volcanic rises, and more. The character of Mars' traveling extratropical weather disturbances in its southern hemisphere during late winter through early spring is investigated using a high-resolution Mars global climate model (i.e., Mars GCM), and one from the Agency's Mars Climate Modeling Center (MCMC) based at the NASA Ames Research Center. The climate model includes several complex atmospheric physical packages. With such physics modules, our global climate simulations present comparatively well with observations of the planet's current water cycle (Haberle et al.,2019). The climate model is "forced" with an annual dust cycle (i.e., nudged based on MGS/TES observations). Compared to the northern-hemisphere counterparts, the southern synoptic-period weather disturbances and accompanying frontal waves have smaller meridional and zonal scales, and are less intense. Influences of the zonally asymmetric (i.e., east-west varying) topography on southern large-scale weather are investigated, in addition to large-scale up-slope/down-slope flows and the diurnal cycle. A southern storm zone in late winter and early spring presents in the western hemisphere via orographic influences from the Tharsis highlands, and the Argyre and Hellas impact basins. Geographically localized transient-wave activity diagnostics are constructed that illuminate dynamical differences amongst the simulations and these are presented.

Description: There is a need for a long-life power generation scheme that could be used downhole in an oil well to produce 1 Watt average power. There are a variety of existing or proposed energy harvesting schemes that could be used in this environment but each of these has its own limitations. The vibrating piezoelectric structure is in principle capable of operating for very long lifetimes (decades) thereby possibly overcoming a principle limitation of existing technology based on rotating turbo-machinery. In order to determine the feasibility of using piezoelectrics to produce suitable flow energy harvesting, we surveyed experimentally a variety of nozzle configurations that could be used to excite a vibrating piezoelectric structure in such a way as to enable conversion of flow energy into useful amounts of electrical power. These included reed structures, spring mass-structures, drag and lift bluff bodies and a variety of nozzles with varying flow profiles. Although not an exhaustive survey we identified a spline nozzle/piezoelectric bimorph system that experimentally produced up to 3.4 mW per bimorph. This paper will discuss these results and present our initial analyses of the device using dimensional analysis and constitutive electromechanical modeling. The analysis suggests that an order-of-magnitude improvement in power generation from the current design is possible.

Description: The Huygens probe arrived at Saturn's moon Titan on January 14, 2005, unveiling a world that is radically different from any other in the Solar system. The data obtained, complemented by continuing observations from the Cassini spacecraft, show methane lakes, river channels and drainage basins, sand dunes, cryovolcanos and sierras. This has lead to an enormous scientific interest in a follow-up mission to Titan, using a robotic lighter-than-air vehicle (or aerobot). Aerobots have modest power requirements, can fly missions with extended durations, and have very long distance traverse capabilities. They can execute regional surveys, transport and deploy scientific instruments and in-situ laboratory facilities over vast distances, and also provide surface sampling at strategic science sites. This paper describes our progress in the development of the autonomy technologies that will be required for exploration of Titan. We provide an overview of the autonomy architecture and some of its key components. We also show results obtained from autonomous flight tests conducted in the Mojave desert.