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NASA NTRS2000

Mars Secular Obliquity Decrease and the Layered Terrain

Mars may have substantially decreased its average axial tilt over geologic time due to the waxing and waning of water ice caps through the phenomenon of climate friction (also called obliquity-oblateness feedback). Depending upon Mars' climate and internal structure, water caps of the order of 10(exp 17) - 10(exp 18) kg cycling with the obliquity oscillations could have either increased or decreased the average obliquity by possibly tens of degrees over the age of the solar system. Gravity and topography observations by the Mars Global Surveyor indicate that the south polar cap is mostly uncompensated, so that Mars may be largely rigid on the obliquity timescale. Further, Mars may be a water-rich planet, so that there is a large phase angle between insolation forcing and the size of the obliquity-driven water caps. A stiff, water-rich planet implies an obliquity decrease over the eons. Such a decrease might account for the apparent youthfulness of the polar layered terrain. The idea is that fewer volatiles were available to be cycled into and out of the terrain at high mean obliquity, because of the eveness of insolation between equator and pole, and because of small insolation variations as the obliquity oscillated; so that the movement of volatiles and dust produced thin layers or perhaps no layers at all. As the average obliquity decreased, the insolation contrast between high and low latitudes increased, plus the insolation variations over the obliquity cycle grew somewhat bigger, so that more volatiles and dust might have shuttled into and out of the polar regions, forming the observed thick layers late in Mars' history. It may also be that the average tilt has decreased to the point where the climate friction mechanism is starving itself: more and more water has gotten locked up in the polar regions, making less available for cycling with the oscillations. And the layer-forming mechanism may be starving too: not only less water, but also at low average obliquity the atmospheric pressure is lower, so that dust storms become rarer, making less dust available to be deposited in the layers. The rate of water ice sublimation and the atmospheric pressure are both expected to drop sharply for obliquities only slightly lower than the present one. Hence there are qualitative reasons for believing that (a) the mean obliquity may be about as low as it can get, and (b) the mechanism for making the layers may turn off at low average obliquity, so that the layered terrain is a transient phenomenon. Thus the formation of the layered terrain may be intimately connected to a change in the mean axial tilt.

Rubincam, D. P.↗
NASA NTRS2002

Two Types of Transpolar Arc Development, Event Studies with Data Set of ASTRID-2, DMSP, FAST, and SuperDARN

Aurorae which appear in the polar cap are called transpolar arcs, polar cap arcs, sun-aligned arcs, or occasionally Theta-aurora because of its spatial distribution resembling Greek character 'Theta.' Morphology, IMF (Interplanetary Magnetic Field) relationship, and ionospheric convection patterns were studied in quest of mechanisms of transpolar arcs. Four events were analyzed: 1999/Jan/22/19:00 - 23/01:30 (1 event: a) 1999/Jan/24/06:00 - 10:00 (1 event: b) 1999/Feb/1 1/20:00 - 12/02:00 (2 events: c, d), with data set of ExB drift velocity data obtained by electric field measurements of ASTRID-2 and FAST, DMSP ion driftmeter data, and line-of-sight velocity data of SuperDARN. POLAR-UVI image data were used for spatial and temporal variations of transpolar arcs and ACE data set were used for investigation of IMF relationship. IMF-Bz was strongly positive (Bz from +8nT to +20 nT) during periods of all four transpolar arcs. In events (a),(b),(c), transpolar arcs appeared immediately after the direction of IMF turned northward, though IMF was fluctuating in event (b). A sudden increase of IMF-By, from +3nT to +18nT, was observed in event (d). Two different types of transpolar arc development were observed in POLAR-UVI: one which begins as a split from dawn or dusk sector of auroral oval and shifts poleward in event (a),(c),(d), and another which is initially a patch of auroral oval disturbed by substorm but develops as a transpolar arc, forming a growing finger-like shape from midnight sector (event b). Sunward flow, associated with positive IMF-Bz, were observed within newly-created polar caps in event (a),(c),(d). Not clear ionospheric convection pattern was seen across the polar cap arc in event (b) die to limitation of data set. In event (c), O+ with energy more than 1 keV were observed by FAST within a transpolar arc, suggesting that their origin be from plasma sheet. Transpolar arcs are thought to be projection of plasma sheet bifurcation into lobe regime. There can be several ways of development of transpolar arcs and two different patterns were observed through this work.

Narita, Yasuhito↗
NASA NTRS2003

South Polar Cryptic Region Revisited: THEMIS Observations

The early part of the Mars Global Surveyor mission provided good TES coverage of the Mars south polar region. These data allow mapping of the polar cap recession, surface and atmospheric temperatures, and albedo features found within the seasonal cap itself over Ls = 180 - 270 deg. During this period, the seasonal south polar cap retreated continuously and asymmetrically around the geographic pole, similar to the observations of Viking in 1976- 1977 [3]. A prominent albedo feature on the seasonal cap is a region that appears almost as dark as bare ground, yet remains cold. We refer to this region, generally located between latitudes 85 deg. S and 75 deg. S and longitudes 150 deg. W and 310 deg. W, as the Cryptic region.

Titus, T. N.↗
NASA NTRS2003

Interannual Comparison of Water Vapor in the North Polar Region of Mars

In order to better understand the current climate of Mars, we seek to understand atmospheric water in the north polar region. Our approach is to examine the water transport and cycling issues within the north polar region and in/out of the region on seasonal and annual timescales. Viking Mars Atmospheric Water Detector (MAWD) data showed that water vapor increased as the northern summer season progressed and temperatures increased, and that vapor appeared to be transported southward . However, there has been uncertainty about the amount of water cycling in and out of the north polar region, as evidenced by residual polar cap visible brightness changes between one Martian year (Mariner 9 data) and a subsequent year (Viking data). These changes were originally thought to be interannual variations in the amount of frost sublimed based on global dust storm activity . However, Viking thermal and imaging data were re-examined and it was found that 14-35 pr m of water -ice appeared to be deposited on the cap later in the summer season, indicating that some water may be retained and redistributed within the polar cap region. This late summer deposition could be due to adsorption directly onto the cap surface or due to snowfall. We seek to understand what happens to the water on seasonal and interannual timescales. We address these issues by examining water vapor in the north polar region of Mars during the north spring and summer period from MGS TES data and by comparing these results to the Viking MAWD results.

Tamppari, L. K.↗
NASA NTRS2003

Fluid core size of Mars from detection of the solar tide

The solar tidal deformation of Mars, measured by its k2 potential Love number, has been obtained from an analysis of Mars Global Surveyor radio tracking. The observed k2 of 0.153 +/- 0.017 is large enough to rule out a solid iron core and so indicates that at least the outer part of the core is liquid. The inferred core radius is between 1520 and 1840 kilometers and is independent of many interior properties, although partial melt of the mantle is one factor that could reduce core size. Ice-cap mass changes can be deduced from the seasonal variations in air pressure and the odd gravity harmonic J3, given knowledge of cap mass distribution with latitude. The south cap seasonal mass change is about 30 to 40% larger than that of the north cap.

Mars↗
NASA NTRS2003

Touch modulates gravity sensing to regulate the growth of primary roots of Arabidopsis thaliana

Plants must sense and respond to diverse stimuli to optimize the architecture of their root system for water and nutrient scavenging and anchorage. We have therefore analyzed how information from two of these stimuli, touch and gravity, are integrated to direct root growth. In Arabidopsis thaliana, touch stimulation provided by a glass barrier placed across the direction of growth caused the root to form a step-like growth habit with bends forming in the central and later the distal elongation zones. This response led to the main root axis growing parallel to, but not touching the obstacle, whilst the root cap maintained contact with the barrier. Removal of the graviperceptive columella cells of the root cap using laser ablation reduced the bending response of the distal elongation zone. Similarly, although the roots of the gravisensing impaired pgm1-1 mutant grew along the barrier at the same average angle as wild-type, this angle became more variable with time. These observations imply a constant gravitropic re-setting of the root tip response to touch stimulation from the barrier. In wild-type plants, transient touch stimulation of root cap cells, but not other regions of the root, inhibited both subsequent gravitropic growth and amyloplast sedimentation in the columella. Taken together, these results suggest that the cells of the root cap sense touch stimuli and their subsequent signaling acts on the columella cells to modulate their graviresponse. This interaction of touch and gravity signaling would then direct root growth to avoid obstacles in the soil while generally maintaining downward growth.

NASA Discipline Plant Biology↗
NASA NTRS1990

Effects of abscisic acid and xanthoxin on elongation and gravitropism in primary roots of Zea mays

We examined the involvement of abscisic acid (ABA) and xanthoxin (Xan) in maize root gravitropism by (1) testing the ability of ABA to allow positive gravitropism in dark-grown seedlings of the maize cultivar LG11, a cultivar known to require light for positive gravitropism of the primary root, (2) comparing curvature in roots in which half of the cap had been excised and replaced with agar containing either ABA or indole-3-acetic acid (IAA), (3) measuring gravitropism in roots of seedlings submerged in oxygenated solutions of ABA or IAA and (4) testing the effect of Xan on root elongation. Using a variety of methods of applying ABA to the root, we found that ABA did not cause horizontally-oriented primary roots of dark-grown seedlings to become positively gravitropic. Replacing half of the root cap of vertically oriented roots with an agar block containing ABA had little or no effect on curvature relative to that of controls in which the half cap was replaced by a plain agar block. Replacement of the removed half cap with IAA either canceled or reversed the curvature displayed by controls. When light-grown seedlings were submerged in ABA they responded strongly to gravistimulation while those in IAA did not. Xan (up to 0.1 mM) did not affect root elongation. The results indicate that ABA is not a likely mediator of root gravitropism and that the putative ABA precursor, Xan, lacks the appropriate growth-inhibiting properties to serve as a mediator of root gravitropism.

NASA Program Space Biology↗
NASA NTRS2004

Participation of D.O. Muhleman as a Co-Investigator on the Mars Observer Laser Altimeter (MOLA) Team

The Co-I has been a principle member of the MOLA Team since the beginning of the Mars Observer Project and the MOLA Team formation. The basic area of research for the Co-I involved the interactions of the MOLA laser beam with the Mars atmosphere, ice fields and surface in general. The Co-I was assisted by one graduate student, and later a research assistant, Anton Ivanov, throughout the reporting period. Dr. Ivanov received a PhD from Caltech in 2000 from research involving the MOLA project. Dr. Ivanov continued with the MOLA project after receiving his degree as a research assistant to Professor Muhleman. Most of the funding from this grant was used to support Dr. Ivanov during the later years. The primary results of these investigations included the measurement of Mars atmospheric opacity at the 1 micron wavelength of the laser, the effects of dust within the craters and canyons of Mars, and a detailed study of the North Polar Ice Cap in terms of ice sublimation and the current structure of that ice cap. We were able to show that the sublimation of the ice on the polar cap would create the current average shape of the norther cap. Extensive data collection and study were made of the Mars surface 1 micron reflectivity until the laser mechanically failed during the reporting period. Reflectivity maps of Mars were produced although there were serious problems of the laser echo signal strength calibration. After that event the efforts were mainly to complete the older investigations. All of the work supported by this grant was theoretical in nature and did not lead to any patents.

Muhleman, Duane O.↗
NASA NTRS2005

Albedo of the South Pole on Mars Determined by Topographic Forcing of Atmosphere Dynamics

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.

Colaprete, Anthony↗
NASA NTRS2009

Panel Discussion: Life in the Cosmos

Water appears to be essential to all life on Earth. For this reason, "Follow the Water" has been adopted as a mantra for the search for Life in the Cosmos. Expeditions have helped to establish the limits and biodiversity of life in the most extreme environments on Earth. Microbial extremophiles inhabit acidic streams; hypersaline and hyperalkaline lakes and pools; the cold deep sea floor, permafrost, rocks, glaciers, and perennially ice-covered lakes of the polar environments; geysers, volcanic fumaroles, hydrothermal vents and hot rocks deep within the Earth's crust. The ESA Venus Express Spacecraft entered Venusian Orbit in 2006 and continues to produce exciting results. The Visible and Infrared Thermal Imaging Spectrometer (VIRTIS) instrument made the first detection of hydroxyl in the atmosphere of Venus, indicating it is much more similar to Earth and Mars than previously thought. Huge hurricane-like vortices have been found above the poles of the planet and as yet unidentified UV absorbers that form mysterious dark bands in the upper atmosphere. At 70 km and below, water vapor and sulfur dioxide combine to form sulfuric acid droplets that create a haze above the cloud tops. Thermophilic acidophiles, such as have recently been discovered on Earth, could possibly survive in the hot sulfuric acid droplets that exist in the upper atmosphere of Venus. In order to understand how to search for life elsewhere in the Solar System, over 40 VIRTIS images of Earth from Venus have been obtained to search for evidence of life on Earth. The signatures of water and molecular Oxygen were detected in the Earth s atmosphere, but the atmosphere of Venus also exhibits these signatures. The water and water ice are far more abundant on comet, the polar caps and permafrost of Mars and the icy moons of Jupiter and Saturn. These "frozen worlds" of our Solar System, are much more promising regimes where extant or extinct microbial life may exist. The ESA Mars Advanced Radar for Subsurface and Ionospheric Sounding (MARSIS) probe has found that both the North and South Polar Caps of Mars are approximately 3.5 km thick and are composed almost entirely of water ice. In winter, a thin dry ice layer covers the caps, but it sublimates directly to CO2 in the spring. The ESA Mars Express Orbiter images reveal Rupes Tenuis to be a vast snow-laden region on the southern edge of the Martian North Polar Cap. The Mars Exploration Rover Spirit found alkaline volcanic rocks in the Gusev Crater and the Phoenix Mars Lander has shown that the soil of Mars is much more alkaline than previously expected. The Phoenix Mars Lander has also made direct observations of frozen and liquid water on Mars. It is known that microorganisms from Alaska, Siberia and Antarctica can remain alive frozen in permafrost or ice for long periods of time. These discoveries increase the possibility that the Labeled Release Experiment may have discovered life on Mars during the Viking Mission and provide strong impetus for the return of life detection experiments to Mars. Changes in the spin rate of Saturn's moon Titan indicate that it may also harbor a 300 km thick liquid water ocean beneath its icy crust. The NASA/ESA/Italian Space Agency Cassini Spacecraft has imaged geysers containing water vapor, methane, carbon dioxide and organics erupting from the "tiger stripe" regions near the South Pole of Saturn's moon Enceladus. The high temperatures observed, the water vapor and large number of ice particles expelled suggest that a liquid water lake may exist beneath the "tiger stripe" ice cracks of Enceladus. The NASA Deep Impact probe found the surface temperature of comet 9P/Temple 1 at 1.5 AY was slightly above the ice/water phase change temperature (273 K). This suggests melting of water ice near the comet surface. A spectrometer the spacecraft detected a mixture of clay and carbonate minerals (that form in the presence of liquid water) streaming off the comet after the collision with the pactor. The study of chemical and mineral biomarkers, chiral amino acids and possible indigenous microfossils in SNC and carbonaceous meteorites continues. These results suggest that comets should be considered prime targets in the search for Life in the Cosmos. The ESA Rosetta mission is on track to rendezvous with comet 67P/Churyumov-Gerasimenko. The recent space observations combined with new information about the ability of microbial extremophiles to thrive in polar environments suggest that life may be far more widely distributed in the Cosmos than previously thought possible. The Panelists will review recent discoveries and provide their own insights about Life in the Cosmos -- followed by a question and answer session with the audience.

Hoover, Richard B.↗
NASA NTRS2007

Lightweight Thermal Protection System for Atmospheric Entry

TUFROC (Toughened Uni-piece Fibrous Reinforced Oxidation-resistant Composite) has been developed as a new thermal protection system (TPS) material for wing leading edge and nose cap applications. The composite withstands temperatures up to 1,970 K, and consists of a toughened, high-temperature surface cap and a low-thermal-conductivity base, and is applicable to both sharp and blunt leading edge vehicles. This extends the possible application of fibrous insulation to the wing leading edge and/or nose cap on a hypersonic vehicle. The lightweight system comprises a treated carbonaceous cap composed of ROCCI (Refractory Oxidation-resistant Ceramic Carbon Insulation), which provides dimensional stability to the outer mold line, while the fibrous base material provides maximum thermal insulation for the vehicle structure.

Stewart, David↗
NASA NTRS2009

Elevation Change of Drangajokull, Iceland, from Cloud-Cleared ICESat Repeat Profiles and GPS Ground-Survey Data

Located on the Vestfirdir Northwest Fjords), DrangaJokull is the northernmost ice map in Iceland. Currently, the ice cap exceeds 900 m in elevation and covered an area of approx.l46 sq km in August 2004. It was about 204 sq km in area during 1913-1914 and so has lost mass during the 20th century. Drangajokull's size and accessibility for GPS surveys as well as the availability of repeat satellite altimetry profiles since late 2003 make it a good subject for change-detection analysis. The ice cap was surveyed by four GPS-equipped snowmobiles on 19-20 April 2005 and has been profiled in two places by Ice, Cloud. and land Elevation Satellite (ICESat) 'repeat tracks,' fifteen times from late to early 2009. In addition, traditional mass-balance measurements have been taken seasonally at a number of locations across the ice cap and they show positive net mass balances in 2004/2005 through 2006/2007. Mean elevation differences between the temporally-closest ICESat profiles and the GPS-derived digital-elevation model (DEM)(ICESat - DEM) are about 1.1 m but have standard deviations of 3 to 4 m. Differencing all ICESat repeats from the DEM shows that the overall elevation difference trend since 2003 is negative with losses of as much as 1.5 m/a from same season to same season (and similar elevation) data subsets. However, the mass balance assessments by traditional stake re-measurement methods suggest that the elevation changes where ICESat tracks 0046 and 0307 cross Drangajokull are not representative of the whole ice cap. Specifically, the area has experienced positive mass balance years during the time frame when ICESat data indicates substantial losses. This analysis suggests that ICESat-derived elevations may be used for multi-year change detection relative to other data but suggests that large uncertainties remain. These uncertainties may be due to geolocation uncertainty on steep slopes and continuing cloud cover that limits temporal and spatial coverage across the area.

Shuman, Christopher A.↗
NASA NTRS2010

Space Technology 5 (ST-5) Observations of the Imbalance of Region 1 and 2 Field-Aligned Currents

Space Technology 5 (ST-5) is a three micro-satellite constellation deployed into a 300 x 4500 km, dawn-dusk, sun-synchronous polar orbit from March 22 to June 21, 2006, for technology validations. In this study, we use the in-situ magnetic field observations from Space Technology 5 mission to quantify the imbalance of Region 1 (R1) and Region 2 (R2) currents. During the three-month duration of the ST5 mission, geomagnetic conditions range from quiet to moderately active. We find that the R1 current intensity is consistently stronger than the R2 current intensity both for the dawnside and the duskside large-scale field-aligned current system. The net currents flowing into (out of) the ionosphere in the dawnside (duskside) are in the order of 5% of the total RI currents. We also find that the net currents flowing into or out of the ionosphere are controlled by the solar wind-magnetosphere interaction in the same way as the field-aligned currents themselves are. Since the net currents due to the imbalance of the R1 and R2 currents require that their closure currents flow across the polar cap from dawn to dusk as Pedersen currents, our results indicate that the total amount of the cross-polar cap Pedersen currents is in the order of approx. 0.1 MA. This study, although with a very limited dataset, is one of the first attempts to quantify the cross-polar cap Pedersen currents. Given the importance of the Joule heating due to Pedersen currents to the high-latitude ionospheric electrodynamics, quantifying the cross-polar cap Pedersen currents and associated Joule heating is needed for developing models of the magnetosphere-ionosphere coupling.

Le, Guan↗
NASA NTRS2012

Particle Acceleration in Dissipative Pulsar Magnetospheres

Pulsar magnetospheres represent unipolar inductor-type electrical circuits at which an EM potential across the polar cap (due to the rotation of their magnetic field) drives currents that run in and out of the polar cap and close at infinity. An estimate ofthe magnitude of this current can be obtained by dividing the potential induced across the polar cap V approx = B(sub O) R(sub O)(Omega R(sub O)/c)(exp 2) by the impedance of free space Z approx eq 4 pi/c; the resulting polar cap current density is close to $n {GJ} c$ where $n_{GJ}$ is the Goldreich-Julian (GJ) charge density. This argument suggests that even at current densities close to the GJ one, pulsar magnetospheres have a significant component of electric field $E_{parallel}$, parallel to the magnetic field, a condition necessary for particle acceleration and the production of radiation. We present the magnetic and electric field structures as well as the currents, charge densities, spin down rates and potential drops along the magnetic field lines of pulsar magnetospheres which do not obey the ideal MHD condition $E cdot B = 0$. By relating the current density along the poloidal field lines to the parallel electric field via a kind of Ohm's law $J = sigma E_{parallel}$ we study the structure of these magnetospheres as a function of the conductivity $sigma$. We find that for $sigma gg OmegaS the solution tends to the (ideal) Force-Free one and to the Vacuum one for $sigma 11 OmegaS. Finally, we present dissipative magnetospheric solutions with spatially variable $sigma$ that supports various microphysical properties and are compatible with the observations.

Kazanas, Z.↗
NASA NTRS2012

Constraining Gamma-Ray Pulsar Gap Models with a Simulated Pulsar Population

With the large sample of young gamma-ray pulsars discovered by the Fermi Large Area Telescope (LAT), population synthesis has become a powerful tool for comparing their collective properties with model predictions. We synthesised a pulsar population based on a radio emission model and four gamma-ray gap models (Polar Cap, Slot Gap, Outer Gap, and One Pole Caustic). Applying gamma-ray and radio visibility criteria, we normalise the simulation to the number of detected radio pulsars by a select group of ten radio surveys. The luminosity and the wide beams from the outer gaps can easily account for the number of Fermi detections in 2 years of observations. The wide slot-gap beam requires an increase by a factor of 10 of the predicted luminosity to produce a reasonable number of gamma-ray pulsars. Such large increases in the luminosity may be accommodated by implementing offset polar caps. The narrow polar-cap beams contribute at most only a handful of LAT pulsars. Using standard distributions in birth location and pulsar spin-down power (E), we skew the initial magnetic field and period distributions in a an attempt to account for the high E Fermi pulsars. While we compromise the agreement between simulated and detected distributions of radio pulsars, the simulations fail to reproduce the LAT findings: all models under-predict the number of LAT pulsars with high E , and they cannot explain the high probability of detecting both the radio and gamma-ray beams at high E. The beaming factor remains close to 1.0 over 4 decades in E evolution for the slot gap whereas it significantly decreases with increasing age for the outer gaps. The evolution of the enhanced slot-gap luminosity with E is compatible with the large dispersion of gamma-ray luminosity seen in the LAT data. The stronger evolution predicted for the outer gap, which is linked to the polar cap heating by the return current, is apparently not supported by the LAT data. The LAT sample of gamma-ray pulsars therefore provides a fresh perspective on the early evolution of the luminosity and beam width of the gamma-ray emission from young pulsars, calling for thin and more luminous gaps.

Pierbattista, Marco↗
NASA NTRS2013

A Mars Sample Return Sample Handling System

We present a sample handling system, a subsystem of the proposed Dragon landed Mars Sample Return (MSR) mission [1], that can return to Earth orbit a significant mass of frozen Mars samples potentially consisting of: rock cores, subsurface drilled rock and ice cuttings, pebble sized rocks, and soil scoops. The sample collection, storage, retrieval and packaging assumptions and concepts in this study are applicable for the NASA's MPPG MSR mission architecture options [2]. Our study assumes a predecessor rover mission collects samples for return to Earth to address questions on: past life, climate change, water history, age dating, understanding Mars interior evolution [3], and, human safety and in-situ resource utilization. Hence the rover will have "integrated priorities for rock sampling" [3] that cover collection of subaqueous or hydrothermal sediments, low-temperature fluidaltered rocks, unaltered igneous rocks, regolith and atmosphere samples. Samples could include: drilled rock cores, alluvial and fluvial deposits, subsurface ice and soils, clays, sulfates, salts including perchlorates, aeolian deposits, and concretions. Thus samples will have a broad range of bulk densities, and require for Earth based analysis where practical: in-situ characterization, management of degradation such as perchlorate deliquescence and volatile release, and contamination management. We propose to adopt a sample container with a set of cups each with a sample from a specific location. We considered two sample cups sizes: (1) a small cup sized for samples matching those submitted to in-situ characterization instruments, and, (2) a larger cup for 100 mm rock cores [4] and pebble sized rocks, thus providing diverse samples and optimizing the MSR sample mass payload fraction for a given payload volume. We minimize sample degradation by keeping them frozen in the MSR payload sample canister using Peltier chip cooling. The cups are sealed by interference fitted heat activated memory alloy caps [5] if the heating does not affect the sample, or by crimping caps similar to bottle capping. We prefer cap sealing surfaces be external to the cup rim to prevent sample dust inside the cups interfering with sealing, or, contamination of the sample by Teflon seal elements (if adopted). Finally the sample collection rover, or a Fetch rover, selects cups with best choice samples and loads them into a sample tray, before delivering it to the Earth Return Vehicle (ERV) in the MSR Dragon capsule as described in [1] (Fig 1). This ensures best use of the MSR payload mass allowance. A 3 meter long jointed robot arm is extended from the Dragon capsule's crew hatch, retrieves the sample tray and inserts it into the sample canister payload located on the ERV stage. The robot arm has capacity to obtain grab samples in the event of a rover failure. The sample canister has a robot arm capture casting to enable capture by crewed or robot spacecraft when it returns to Earth orbit

Wilson, David↗
NASA NTRS2014

Hardware Design and Testing of SUPERball, A Modular Tensegrity Robot

We are developing a system of modular, autonomous "tensegrity end-caps" to enable the rapid exploration of untethered tensegrity robot morphologies and functions. By adopting a self-contained modular approach, different end-caps with various capabilities (such as peak torques, or motor speeds), can be easily combined into new tensegrity robots composed of rods, cables, and actuators of different scale (such as in length, mass, peak loads, etc). As a first step in developing this concept, we are in the process of designing and testing the end-caps for SUPERball (Spherical Underactuated Planetary Exploration Robot), a project at the Dynamic Tensegrity Robotics Lab (DTRL) within NASA Ames's Intelligent Robotics Group. This work discusses the evolving design concepts and test results that have gone into the structural, mechanical, and sensing aspects of SUPERball. This representative tensegrity end-cap design supports robust and repeatable untethered mobility tests of the SUPERball, while providing high force, high displacement actuation, with a low-friction, compliant cabling system.

Tensegrity↗
NASA NTRS2015

A Launch Requirements Trade Study for Active Space Radiation Shielding for Long Duration Human Missions

A trade study for an active shielding concept based on magnetic fields in a solenoid configuration versus mass based shielding was developed. Monte Carlo simulations were used to estimate the radiation exposure for two values of the magnetic field strength and the mass of the magnetic shield configuration. For each field strength, results were reported for the magnetic region shielding (end caps ignored) and total region shielding (end caps included but no magnetic field protection) configurations. A value of 15 cSv was chosen to be the maximum exposure for an astronaut. The radiation dose estimate over the total shield region configuration cannot be used at this time without a better understanding of the material and mass present in the end cap regions through a detailed vehicle design. The magnetic shield region configuration, assuming the end cap regions contribute zero exposure, can be launched on a single Space Launch System rocket and up to a two year mission can be supported. The magnetic shield region configuration results in two versus nine launches for a comparable mass based shielding configuration. The active shielding approach is clearly more mass efficient because of the reduced number of launches than the mass based shielding for long duration missions.

Singleterry, Robert C., Jr.↗