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Avalanche photodiode photon counting receivers for space-borne lidars

Avalanche photodiodes (APD) are studied for uses as photon counting detectors in spaceborne lidars. Non-breakdown APD photon counters, in which the APD's are biased below the breakdown point, are shown to outperform: (1) conventional APD photon counters biased above the breakdown point; (2) conventional APD photon counters biased above the breakdown point; and (3) APD's in analog mode when the received optical signal is extremely weak. Non-breakdown APD photon counters were shown experimentally to achieve an effective photon counting quantum efficiency of 5.0 percent at lambda = 820 nm with a dead time of 15 ns and a dark count rate of 7000/s which agreed with the theoretically predicted values. The interarrival times of the counts followed an exponential distribution and the counting statistics appeared to follow a Poisson distribution with no after pulsing. It is predicted that the effective photon counting quantum efficiency can be improved to 18.7 percent at lambda = 820 nm and 1.46 percent at lambda = 1060 nm with a dead time of a few nanoseconds by using more advanced commercially available electronic components.

Sun, Xiaoli↗

High-resolution CO observations of luminous infrared galaxies with large L(ir)/L(B) ratios - IRAS 10173 + 0828, Zw 049.057, IRAS 17208 - 0014

The Owens Valley mm-wave interferometer has been used for high-resolution (about 3-7 arcsec) mapping of CO emission in three luminous IRAS galaxies: IRAS 17208 - 0014, 15107 + 0724, and IRAS 10173 + 0828. These galaxies are among the most extreme, in terms of their L(ir)/L(B) ratio, for objects in the IRAS Bright Galaxy Surveys. The CO emission detected in the three galaxies originates from a single region centered on the IRAS emission peak. These observations have shown that these galaxies have similar values for the global L(ir)/M(H2) ratio, for the surface density of molecular gas in their central regions and for the extinction toward the nucleus (above 300 mag). A high L(ir)/L(B) ratio seems to be a good predictor for both a high global L(ir)/M(H2) ratio and very large central H2 surface densities.

Planesas, P.↗

An evaluation of the Iosipescu specimen for composite materials shear property measurement

A detailed evaluation of the suitability of the Iosipescu specimen tested in the modified Wyoming fixture is presented. A linear finite element model of the specimen is used to assess the uniformity of the shear stress field in the vicinity of the notch, and demonstrate the effect of the nonuniform stress field upon strain gage measurements used for the determination of composite shear moduli. Based upon test results from graphite-epoxy laminates, the proximity of the load introduction point to the test section and the material orthotropy greatly influence the individual gage readings, however, shear modulus determination is not significantly affected by the lack of pure shear. Correction factors are needed to allow for the nonuniformity of the strain field and the use of the average shear stress in the shear modulus evaluation. The correction factors are determined for the region occupied by the strain gage rosette. A comparison of the strain gage readings from one surface of a specimen with corresponding data from moire interferometry on the opposite face documented an extreme sensitivity of some fiber orientations to eccentric loading which induced twisting and spurious shear stress-strain curves. The discovery of specimen twisting explains the apparently inconsistent shear property data found in the literature. Recommendations for improving the reliability and accuracy of the shear modulus values are made, and the implications for shear strength measurement discussed.

Morton, J.↗

Seasonal variation of surface and atmospheric cloud radiative forcing over the globe derived from satellite data

Global distributions of surface and atmospheric cloud radiative forcing parameters have been derived using parameterized radiation models with satellite meteorological data from the International Satellite Cloud Climatology Project, and directly measured top-of-atmosphere radiative fluxes from the Earth Radiation Budget Experiment. Specifically, shortwave, longwave, and total cloud forcing at the surface, and column-averaged values of longwave cloud forcing of the atmosphere were derived for the midseasonal months of April, July, and October 1985 and January 1986, covering a complete annual cycle. Seasonal variability is illustrated by comparing the results for July 1985 and January 1986, which represent the seasonal extremes. Surface shortwave cloud forcing is always negative, representing a cooling of the surface, with strongest cooling (-120 to -180 W/sq m) occurring over midlatitude storm tracks of the summer hemisphere. Surface longwave cloud forcing is always positive, representing a warming of the surface, with strongest warming (60 to 75 W/sq m) occurring over storm tracks of the winter hemisphere. Zonal averages show the entire summer hemisphere dominated by shortwave cooling, the middle and high latitudes of the winter hemisphere dominated by longwave warming, and a broad zone of transition in between. The globally averaged total cloud forcing amounts to a cooling throughout the year, ranging from a low of about -12 W/sq m for July 1985 to a high of about -25 W/sq m for January 1986. The longwave cloud forcing of the atmosphere shows a strong warming over deep convective regions in the tropics and a moderate cooling outside the tropics, amounting to a weak cooling (-2 to -5 W/sq m) in the global average. Comparisons of the results with general circulation model simulations show broad qualitative agreement regarding the locations of prominent warming and cooling regions. Quantitative comparisons, on the other hand, show significant differences between the magnitudes of warming and cooling in these regions. Most of the larger differences can be attributed to known deficiences of the general circulation model simulations. Comparisons with satellite-derived results of other investigators show much better agreement.

Gupta, Shashi K.↗

CFD Modelling of Bore Erosion in Two-Stage Light Gas Guns

A well-validated quasi-one-dimensional computational fluid dynamics (CFD) code for the analysis of the internal ballistics of two-stage light gas guns is modified to explicitly calculate the ablation of steel from the gun bore and the incorporation of the ablated wall material into the hydrogen working cas. The modified code is used to model 45 shots made with the NASA Ames 0.5 inch light gas gun over an extremely wide variety of gun operating conditions. Good agreement is found between the experimental and theoretical piston velocities (maximum errors of +/-2% to +/-6%) and maximum powder pressures (maximum errors of +/-10% with good igniters). Overall, the agreement between the experimental and numerically calculated gun erosion values (within a factor of 2) was judged to be reasonably good, considering the complexity of the processes modelled. Experimental muzzle velocities agree very well (maximum errors of 0.5-0.7 km/sec) with theoretical muzzle velocities calculated with loading of the hydrogen gas with the ablated barrel wall material. Comparison of results for pump tube volumes of 100%, 60% and 40% of an initial benchmark value show that, at the higher muzzle velocities, operation at 40% pump tube volume produces much lower hydrogen loading and gun erosion and substantially lower maximum pressures in the gun. Large muzzle velocity gains (2.4-5.4 km/sec) are predicted upon driving the gun harder (that is, upon using, higher powder loads and/or lower hydrogen fill pressures) when hydrogen loading is neglected; much smaller muzzle velocity gains (1.1-2.2 km/sec) are predicted when hydrogen loading is taken into account. These smaller predicted velocity gains agree well with those achieved in practice. CFD snapshots of the hydrogen mass fraction, density and pressure of the in-bore medium are presented for a very erosive shot.

Bogdanoff, D. W.↗

Low Ozone in the Marine Boundary Layer of the Tropical Pacific Ocean

Aircraft measurements of ozone, its key precursors, and a variety of chemical tracers were made in the troposphere of the western and central Pacific in October 1991. These data are presented and analyzed to examine the occurrence of low ozone concentrations in the remote marine boundary layer of the tropical and equatorial Pacific Ocean. The data from these flights out of Guam, covering an area extending from the equator to 20 N and from south of the Philippines to Hawaii, show average O3 concentrations as low as 8-9 ppb (ppb=10(exp-9)v/v) at altitudes of 0.3-0.5 km in the boundary layer. Individual measurements as low as 2-5 ppb were recorded. Low O3 concentrations do not always persist in space and time. High O3, generally associated with the transport of upper tropospheric air, was also encountered in the boundary layer. In practically all cases, O3 increased to values as large as 25-30 ppb within 2 km above the boundary layer top. Steady state model computations are used to suggest that these low O3 concentrations are a result of net photochemical O3 destruction in a low NO environment, sea-surface deposition, and extremely low net entrainment rates (1-2 mm per second) from the free troposphere. Day/night measurements of ethane, propane, gaseous and aerosol Cl suggest that daytime (morning) Cl atom concentrations in the vicinity of 10(exp 5) molecules per cubic centimeter may be present in the marine boundary layer. This Cl atom abundance can be rationalized only if sea salt aerosols can release free chlorine (Cl2) to the gas phase in the presence of sun light (and possibly O3). These Cl atom concentrations, however, are still insufficient and Cl (or Br) chemistry is not likely to be an important cause of the observed low O3.

Singh, Hanwant B.↗

Specification of ISS Plasma Environment Variability

Quantifying spacecraft charging risks and associated hazards for the International Space Station (ISS) requires a plasma environment specification for the natural variability of ionospheric temperature (Te) and density (Ne). Empirical ionospheric specification and forecast models such as the International Reference Ionosphere (IRI) model typically only provide long term (seasonal) mean Te and Ne values for the low Earth orbit environment. This paper describes a statistical analysis of historical ionospheric low Earth orbit plasma measurements from the AE-C, AE-D, and DE-2 satellites used to derive a model of deviations of observed data values from IRI-2001 estimates of Ne, Te parameters for each data point to provide a statistical basis for modeling the deviations of the plasma environment from the IRI model output. Application of the deviation model with the IRI-2001 output yields a method for estimating extreme environments for the ISS spacecraft charging analysis.

Minow, Joseph I.↗

Challenges and Solutions for Precision Solar Pointing on the ISS for the TSIS Instrument

The International Space Station offers an attractive platform for external payloads in many regards, but its large, complex structure is challenging for payloads that require precise, unobstructed pointing. As an instrument that measures solar irradiance on a continual basis, the TSIS payload was designed to robustly account for these ISS challenges and is now performing its mission on the ISS with great success.This paper first describes how TSIS was able to measure the ISS background jitter using High-rate Fine Sun Sensor data that was taken during passive solar transits through its field of view. The measurements showed that ISS jitter at the TSIS location on ELC-3 Site 5 is relatively benign with less than 4 arcseconds 1 at frequencies less than 0.5 Hz. This value is lower than previous estimates but agrees well with recent measurements from other external payloads, including OPALS and SAGE III. Because TSIS was designed to be robust to base motion jitter, it has achieved less than 4 arcseconds 1 of pointing error, which provides an extremely precise pointing platform for the solar irradiance measurements. The other challenging ISS characteristic is its large, complex structure that obscures solar viewing at sunrise and sunset from the zenith-facing location of TSIS. Although TSIS was able to predict solar viewing durations during the design phase with relatively high accuracy, the exact timing and causes of obscuration were difficult to predict and understand after TSIS began operating on the ISS. To aid in the understanding of blockage by ISS structure, detailed obscuration maps were created using HFSS measurements that clearly show the exact gimbal angles where blockage occurs and the specific structural features of the ISS that cause the blockage. These maps have helped TSIS to maximize its solar tracking durations each orbit, which has supported the mission in meeting its science objectives.

background jitter↗

A Dynamic Landslide Hazard Monitoring Framework for the Lower Mekong Region

The Lower Mekong region is one of the most landslide-prone areas of the world. Despite the need for dynamic characterization of landslide hazard zones within the region, it is largely understudied for several reasons. Dynamic and integrated understanding of landslide processes requires landslide inventories across the region, which have not been available previously. Computational limitations also hamper regional landslide hazard assessment, including accessing and processing remotely sensed information. Finally, open-source software and modelling packages are required to address regional landslide hazard analysis. Leveraging an open-source data-driven global Landslide Hazard Assessment for Situational Awareness model framework, this study develops a region-specific dynamic landslide hazard system leveraging satellite-based Earth observation data to assess landslide hazards across the lower Mekong region. A set of landslide inventories were prepared from high-resolution optical imagery using advanced image-processing techniques. Several static and dynamic explanatory variables (i.e., rainfall, soil moisture, slope, relief, distance to roads, distance to faults, distance to rivers) were considered during the model development phase. An extreme gradient boosting decision tree model was trained for the monsoon period of 2015–2019 and the model was evaluated with independent inventory information for the 2020 monsoon period. The model performance demonstrated considerable skill using receiver operating characteristic curve statistics, with Area Under the Curve values exceeding 0.95. The model architecture was designed to use near-real-time data, and it can be implemented in a cloud computing environment (i.e., Google Cloud Platform) for the routine assessment of landslide hazards in the Lower Mekong region. This work was developed in collaboration with scientists at the Asian Disaster Preparedness Center as part of the NASA SERVIR Program’s Mekong hub. The goal of this work is to develop a suite of tools and services on accessible open-source platforms that support and enable stakeholder communities to better assess landslide hazard and exposure at local to regional scales for decision making and planning.

Nishan Kumar Biswas↗

Studies of chemical abundances in the outer solar system

Ground-based observations and the Pioneer 10 mission have led to new discoveries and revisions of previous ideas about the outer solar system. Among these are the discovery of atmospheres on Io and Ganymede, emission from sodium and hydrogen in a cloud around Io, and the presence of acetylene, ethane, and phosphine in the atmosphere of Jupiter. Titan, the largest satellite of Saturn, continues to be an extremely interesting and baffling object, clearly very different in composition from the bodies familiar with in the inner solar system - which is also true of Ganymede and Callisto. New data on the abundances of methane and hydrogen in the atmospheres of Uranus and Neptune suggest that the values of C/H in these atmospheres may be much lower than had been previously thought. This result reinforces the apparent compositional difference between these two planets and Jupiter and Saturn, whose atmospheres exhibit a near-solar value for this ratio.

Owen, T.↗

Reflight of the Gamma-Ray Arcminute Telescope Imaging System (GRATIS) Payload

The Gamma-Ray Arcminute Telescope Imaging System (GRATIS) balloon payload was prepared for reflight. This involved repair of damage caused in the previous flight to structural members of the payload (the gondola support structure) as well as damage to some of the pointing system elements and electronics modules. This work was successfully completed. An extensive pre-calibration of the CsI(Na) imaging detectors was then done. The plan was to take several months to calibrate the 36 detectors and to compare the results with the post-calibration from the previous flight in Alice Springs Australia. During the course of the pre-calibrations it was noted that the light output of the crystals was severely degraded in more than half the detectors compared to the values recorded 1.5 years earlier. Subsequent investigation revealed that the light yield degradation was not unreasonable. The CsI crystals had in fact performed well past their rated life from hygroscopic contamination. The crystals had spent the majority of their life either in the desert or in the extremely low humidity conditions of Livermore California. where the GRATIS payload had been based prior to transfer to Columbia. The extreme summer humidity of New York simply exacerbated a degradation process that had been artificially delayed by dry conditions. Because such a large part of the detector array had been degraded we did not feel it was appropriate to refly the payload because the scientific performance would have been compromised.

Hailey, Charles J.↗

Core and Wing Densities of Asymmetric Coronal Spectral Profiles: Implications for the Mass Supply of the Solar Corona

Recent solar spectroscopic observations have shown that coronal spectral lines can exhibit asymmetric profiles, with enhanced emissions at their blue wings. These asymmetries correspond to rapidly upflowing plasmas at speeds exceeding approximately equal to 50 km per sec. Here, we perform a study of the density of the rapidly upflowing material and compare it with that of the line core that corresponds to the bulk of the plasma. For this task, we use spectroscopic observations of several active regions taken by the Extreme Ultraviolet Imaging Spectrometer of the Hinode mission. The density sensitive ratio of the Fe(sub XIV) lines at 264.78 and 274.20 Angstroms is used to determine wing and core densities.We compute the ratio of the blue wing density to the core density and find that most values are of order unity. This is consistent with the predictions for coronal nanoflares if most of the observed coronal mass is supplied by chromospheric evaporation driven by the nanoflares. However, much larger blue wing-to-core density ratios are predicted if most of the coronal mass is supplied by heated material ejected with type II spicules. Our measurements do not rule out a spicule origin for the blue wing emission, but they argue against spicules being a primary source of the hot plasma in the corona. We note that only about 40% of the pixels where line blends could be safely ignored have blue wing asymmetries in both Fe(sub XIV) lines. Anticipated sub-arcsecond spatial resolution spectroscopic observations in future missions could shed more light on the origin of blue, red, and mixed asymmetries.

coronal spectral profiles↗

The Antarctic Search for Meteorites: A Model for Deep Space Exploration

In an era of shrinking buying power and reduced flight opportunities, NASA must extract the greatest possible value from all sources of insight into the future of human space exploration. Antarctica is one such source. The history of Antarctic exploration has many political and technical parallels with the development of space, and Antarctica's remoteness and harsh climate make it an excellent proxy for space (e.g., [1,2]). Links between exploration of space and of the Antarctic date back to the International Geophysical Year of 1957-1958, which saw both the launch of Sputnik 1 and the establishment of a station at the South Pole. The Antarctic Search for Meteorites (ANSMET) is an annual expedition to the south polar plateau to collect meteorites. Although its intent is not to simulate a space mission, the handful of astronauts who have participated in ANSMET agree that it is very similar to a long-duration space flight. Independently, NASA and other space agencies have simulated deep space exploration missions in "analog" activities at remote field sites on Earth (e.g., [3]). These include NASA Extreme Environment Mission Operations (NEEMO) [4,5], Desert Research And Technology Studies (Desert RATS) [6,7], and the Pavilion Lake Research Project (PLRP or simply Pavilion Lake) [8]. This report focuses on NEEMO, Desert RATS, and PLRP because of the author's firsthand experience with them. Other noteworthy analogs, such as the arctic Haughton Mars Project and the European Space Agency's underground Cooperative Adventure for Valuing and Exercising human behavior and performance Skills (CAVES), are not treated here. NASA analogs often include fully staffed control centers, astronauts serving as crew, and realistic mission timelines lasting one to two weeks. Analogs have provided key insights into system architectures and operational concepts for the future human exploration of deep space. They have pioneered techniques for human communication with significant speed-of-light delays, for conducting spacewalks on natural objects with negligible surface gravity, and for empowering exploration crews to work with reduced dependence on a ground control center. They have field-tested dozens of emerging technologies including spacewalking tools and full-scale prototype vehicles and habitats. They have provided valuable experience for astronauts preparing for their first space flight, and for flown crewmembers who will take command roles on later flights. Some analogs, especially PLRP, have connected observers in the field with science teams in remotely located control centers to produce high-quality, publishable scientific results. The analogs have accomplished all of this at a tiny fraction of the cost of an actual space flight. This report treats ANSMET as space flight analog. The chapter following this introduction describes ANSMET in depth. The report then presents data on logistics and crew considerations that may be useful for developers of future human space exploration missions. It offers detailed comparisons between ANSMET and past, present, and future space flights on the Space Shuttle, the International Space Station (ISS), and a proposed Mars mission. Those comparisons are intended to complement the work of Eppler [2], who compares ANSMET to the Apollo moon flights. This report also compares ANSMET with the Desert RATS, NEEMO, and PLRP analogs. It then presents observations and makes recommendations related to ANSMET's value as a simulated space mission. The report ends with a short conclusion. The remainder of this introductory chapter provides background material to help readers interpret the rest of the report. It gives brief overviews of Space Shuttle and ISS missions along with information on a notional future human flight to Mars. It also presents the general features of three of NASA's space flight "analog" projects. With those points of reference in place, the chapter concludes with an overview of ANSMET.

Love, Stanley G.↗

Development of an Extreme High Temperature n-type Ohmic Contact to Silicon Carbide

We report on the initial demonstration of a tungsten-nickel (75:25 at. %) ohmic contact to silicon carbide (SiC) that performed for up to fifteen hours of heat treatment in argon at 1000 C. The transfer length method (TLM) test structure was used to evaluate the contacts. Samples showed consistent ohmic behavior with specific contact resistance values averaging 5 x 10-4 -cm2. The development of this contact metallization should allow silicon carbide devices to operate more reliably at the present maximum operating temperature of 600 C while potentially extending operations to 1000 C. Introduction Silicon Carbide (SiC) is widely recognized as one of the materials of choice for high temperature, harsh environment sensors and electronics due to its ability to survive and continue normal operation in such environments [1]. Sensors and electronics in SiC have been developed that are capable of operating at temperatures of 600 oC. However operating these devices at the upper reliability temperature threshold increases the potential for early degradation. Therefore, it is important to raise the reliability temperature ceiling higher, which would assure increased device reliability when operated at nominal temperature. There are also instances that require devices to operate and survive for prolonged periods of time above 600 oC [2, 3]. This is specifically needed in the area of hypersonic flight where robust sensors are needed to monitor vehicle performance at temperature greater than 1000 C, as well as for use in the thermomechanical characterization of high temperature materials (e.g. ceramic matrix composites). While SiC alone can withstand these temperatures, a major challenge is to develop reliable electrical contacts to the device itself in order to facilitate signal extraction

Evans, Laura J.↗

The relationship between the Eddington limit, the observed upper luminosity limit for massive stars, and the luminous blue variables

The observed upper luminosity limits in the Galaxy and the LMC are compared with the Eddington limit as estimated for plane-parallel LTE model atmospheres which include the full effects of metal line opacities in the ultraviolet. It is shown that the Humphreys-Davidson (HD) limit corresponds to the locus of extremely low effective gravities. This result suggests that stars approaching the HD limit will suffer high mass-loss rates because of the reduction of the effective gravity due to radiation pressure. These high mass-loss rates ultimtely lead to the core mass fraction reaching its critical value and the reversal of the stellar evolution tracks. It is shown that radiation pressure, as an agent for producing enhanced mass loss near the HD limit, can in a natural way explain the kink in the HD limit near T(eff) roughly 10,000 K and the upper luminosity limit for yellow and red supergiants. The high mass-loss rates of the luminous blue variables, their location in the HR diagram, and their evolutionary stage are also discussed.

Lamers, Henny J. G. L. M.↗

Effects of physical aging on long-term behavior of composites

The HSCT plane, envisioned to have a lifetime of over 60,000 flight hours and to travel at speeds in excess of Mach 2, is the source of intensive study at NASA. In particular, polymer matrix composites are being strongly considered for use in primary and secondary structures due to their high strength to weight ratio and the options of property tailoring. However, an added difficulty in the use of polymer based materials is that their properties change significantly over time, especially at the elevated temperatures that will be experienced during flight, and prediction of properties based on irregular thermal and mechanical loading is extremely difficult. This study focused on one aspect of long-term polymer composite behavior: physical aging. When a polymer is cooled to below its glass transition temperature, the material is not in thermodynamic equilibrium and the free volume and enthalpy evolve over time to approach their equilibrium values. During this time, the mechanical properties change significantly and this change is termed physical aging. This work begins with a review of the concepts of physical aging on a pure polymer system. The effective time theory, which can be used to predict long term behavior based on short term data, is mathematically formalized. The effects of aging to equilibrium are proven and discussed. The theory developed for polymers is then applied first to a unidirectional composite, then to a general laminate. Comparison to experimental data is excellent. It is shown that the effects of aging on the long-term properties of composites can be counter-intuitive, stressing the importance of the development and use of a predictive theory to analyze structures.

Brinson, L. Catherine↗

One-Hertz Waves at Mars: MAVEN Observations

We perform a survey of 1-Hz waves at Mars utilizing Mars Atmosphere and Volatile EvolutioN (MAVEN) spacecraft observations for a Martian year. We find that the 1-Hz wave occurrence rate shows an apparent variation caused by masking of the waves by background turbulence during the times when the background turbulence levels are high. To correct for this turbulence masking, we select waves that occur in time intervals where the background turbulence levels are low. We find that the extreme ultraviolet flux does not affect the wave occurrence rate significantly, suggesting that the newly born pickup ions originating in the Mars's exosphere contribute minimally to the 1-Hz wave generation. We find that the wave occurrence rates are higher for low Mach numbers and low beta values than for high Mach numbers and high beta values. Further, we find that a high percentage of 1-Hz waves satisfy the group-standing condition, which suggests that a high percentage of the waves seen as monochromatic waves in the spacecraft frame can be broadband waves in the solar wind frame that have group velocities nearly equal and opposite to the solar wind velocity. We infer that the wave occurrence rate trends with the Mach number and proton beta are a consequence of how the Mach numbers and beta values influence the wave generation and damping or how those parameters affect the group-standing condition. Finally, we find that the 1-Hz waves are equally likely to be found in both the quasi-parallel and the quasi-perpendicular foreshock regions.

Waves↗

High-capacity ATHLETE Offloader Mobility Constructor Concept for Human Surface Exploration

Using cross-cabled, winch-tendon four-bar frames, a new Artemis-class ATHLETE system is a multi-limbed robotic mobility platform that is designed for surface traverse, precision placement, and offloading of heavy habitats and other large human exploration payloads from high-decked landers. Building upon lessons learned from the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robotic mobility system developed for Constellation Lunar Surface Systems and Evolvable Mars Campaign, a high-capacity articulated crane / lift vehicle concept has been devised that would be equipped with multi-limb six-degree-of-freedom dexterity for a variety of tasks supporting planetary surface human exploration missions and outposts. The Artemis-class ATHLETE vehicle would use any combination of three to six wheel-onlimb combinations to provide a wide “outrigger” stance to transfer loads from a high center-of-gravity on sloped terrain to low stable carry configurations for long-distance traverses, and be capable of precision docking of payloads to previously positioned elements. The new vehicle concept improves upon previous Constellation-class ATHLETE versions by allowing modular hot-swapping of individual limbs to improve maintenance and flexibility. The extreme-capacity independent limbs can individually function as single cranes, and can be delivered separately via multiple lander manifests for later congregation into self-driving “Tri-ATHLETE” vehicles after delivery to the surface. This paper provides mission architecture targets and vehicle masses for stepped payload capacity values in Earth, Mars, and Lunar gravity environments, and discusses a variety of swappable tools, including wheeled mobility attachments, grippers, excavation tools, repair fixtures, ISRU extraction, winches, block & tackle rigging combinations, 3D printheads, and construction aids.

Wilcox, Brian↗