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At least 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

The Origin of Palimpsests

Palimpsests are the most enigmatic impact features observed on icy worlds of the Solar System. Palimpsests are large impact features which are bright, old, mostly flat, and roughly circular. They range from >150 to ~350 km in diameter and sometimes exhibit recognizable associated radial secondary ejecta crater strings beyond their rims. Curiously, among all the Solar System's icy worlds, palimpsests are exclusively seen on the icy Galilean moons. Palimpsests are obviously different than similarly sized impact features seen on other icy satellites. For example, Evander, a 350 km diameter peak-ring impact basin on Saturn’s moon Dione, has a very low depth/diameter ratio of 0.008, indicating significant viscous relaxation. Nevertheless, it still retains short wavelength topography including a prominent central peak, peak ring, and a continuous rim, none of which are seen at palimpsests. Palimpsests display an approximately circular, and dominating, expanse of undulating plains, which is level with surrounding terrain and shows no recognizable rim. At the center of palimpsests are smooth central plains that are enclosed by a low scarp. Central plains material superposes the surrounding undulating plains and is littered with small blocks reminiscent of “small chaos” on Europa. Palimpsests have yet to be explored using modern impact simulation tools. We have begun to investigate two competing hypotheses: (A) Palimpsests form on targets which have a preexisting near-subsurface layer that is liquid or solid but very weak, and is excavated as proximal ejecta; or (B) They form in a solid ice target underlain by a steep thermal gradient that strongly influences the resulting impact feature, including the production of impact-induced melting at depth that is then a major component of proximal ejecta. Our results will have profound implications for the early thermal history of the icy Galilean satellites. We will test our two hypotheses for the formation of palimpsests on Ganymede (where they are both best observed and preserved) by means of 2D iSALE hydrodynamic simulations of impacts into ice targets that will be structured according to the scenarios for each hypothesis, with select runs in 3D. We have already conducted a pilot study using 2D iSALE that has yielded promising results, which we will report out at the meeting.

palimpsests↗
NASA NTRS1995

Diabatic forcing and intialization with assimilation of cloud water and rainwater in a forecast model

In this study, diabatic forcing, and liquid water assimilation techniques are tested in a semi-implicit hydrostatic regional forecast model containing explicit representations of grid-scale cloud water and rainwater. Diabatic forcing, in conjunction with diabatic contributions in the initialization, is found to help the forecast retain the diabatic signal found in the liquid water or heating rate data, consequently reducing the spinup time associated with grid-scale precipitation processes. Both observational Special Sensor Microwave/Imager (SSM/I) and model-generated data are used. A physical retrieval method incorporating SSM/I radiance data is utilized to estimate the 3D distribution of precipitating storms. In the retrieval method the relationship between precipitation distributions and upwelling microwave radiances is parameterized, based upon cloud ensemble-radiative model simulations. Regression formulae relating vertically integrated liquid and ice-phase precipitation amounts to latent heating rates are also derived from the cloud ensemble simulations. Thus, retrieved SSM/I precipitation structures can be used in conjunction with the regression-formulas to infer the 3D distribution of latent heating rates. These heating rates are used directly in the forecast model to help initiate Tropical Storm Emily (21 September 1987). The 14-h forecast of Emily's development yields atmospheric precipitation water contents that compare favorably with coincident SSM/I estimates.

Raymond, William H.↗
DOE OSTI2023

Effects from Time Dependence of Ice Nucleus Activity for Contrasting Cloud Types

Abstract The role of time-dependent freezing of ice nucleating particles (INPs) is evaluated with the “Aerosol–Cloud” (AC) model in 1) deep convection observed over Oklahoma during the Midlatitude Continental Convective Cloud Experiment (MC3E), 2) orographic clouds observed over North California during the Atmospheric Radiation Measurement (ARM) Cloud Aerosol Precipitation Experiment (ACAPEX), and 3) supercooled, stratiform clouds over the United Kingdom, observed during the Aerosol Properties, Processes And Influences on the Earth’s climate (APPRAISE) campaign. AC uses the dynamical core of the WRF Model and has hybrid bin–bulk microphysics and a 3D mesoscale domain. AC is validated against coincident aircraft, ground-based, and satellite observations for all three cases. Filtered concentrations of ice (>0.1–0.2 mm) agree with those observed at all sampled levels. AC predicts the INP activity of various types of aerosol particles with an empirical parameterization (EP), which follows a singular approach (no time dependence). Here, the EP is modified to represent time-dependent INP activity by a purely empirical approach, using our published laboratory observations of time-dependent INP activity. In all simulated clouds, the inclusion of time dependence increases the predicted INP activity of mineral dust particles by 0.5–1 order of magnitude. However, there is little impact on the cloud glaciation because the total ice is mostly (80%–90%) from secondary ice production (SIP) at levels warmer than about −36°C. The Hallett–Mossop process and fragmentation in ice–ice collisions together initiate about 70% of the total ice, whereas fragmentation during both raindrop freezing and sublimation contributes <10%. Overall, total ice concentrations and SIP are unaffected by time-dependent INP activity. In the simulated APPRAISE case, the main causes of persistence of long-lived clouds and precipitation are predicted to be SIP in weak embedded convection and reactivation following recirculation of dust particles in supercooled layer cloud.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRSDate not supplied

Cubespark: A New Satellite-Based 3d Lightning Observing Concept

Legacy and current space-based optical lightning detectors are insensitive to small and dim pulses that make up much of the lightning activity produced by severe storms. Moreover, lightning flashes produced at low altitudes within optically thick clouds are severely under-detected by current optical detectors. Lastly, there is currently no capability to characterize the 3D structure of lightning both day and night at the global scale, yet this information is critical for identifying lightning produced in updraft regions, including lightning occurring in overshooting tops, which is a distinctive signature of severe weather. Global 3D lightning information is also critical for understanding the vertical distribution of NOx production and identifying anomalously electrified storms. Furthermore, the vertical distribution of lightning has implications for how microphysical (e.g., ice-based) and thermodynamical (e.g., latent heat release) processes vary regionally, as well as seasonally – e.g., winter lightning typically occurs at lower altitudes than summer lightning and is often associated with tall, man-made structures. Finally, global-scale 3D lightning observations would directly provide flash type (i.e., CG or IC) information that is very useful in all of the studies mentioned in this paragraph and is fundamental in identifying/documenting deleterious CG-caused impacts (e.g., wildfires, power-outages, crop and property damage, and associated insurance claims). A new, satellite mission concept called CubeSpark is being designed to address these shortcomings and fill this measurement gap by providing novel 3D observations of total lightning activity. CubeSpark will utilize a constellation of low-Earth orbiting small satellites that make radio frequency (RF) and bi-spectral optical measurements of lightning. Two options for combining these measurements to retrieve the 3D location of lightning are considered with corresponding measurement simulators built to understand the level of detail and viability of each approach. Although the level of detail varies for each combined measurement approach, results indicate that a 3D location accuracy of < 1-2 km in each dimension is feasible across 300-500 km wide swaths, which suggests that CubeSpark can resolve the charge structure of thunderclouds from the tropics to the mid- and high-latitudes.

lightning↗
NASA NTRSDate not supplied

3D Phase-Field Simulations of Pattern Formation During Freeze Casting

We present the results of a combined experimental and phase-field modeling study of pattern formation during freeze casting. Those studies use unidirectional freezing of simple binary liquid mixtures of water and sugars (sucrose and trehalose) in a temperature gradient, which suffice to produce hierarchical templated structures similar to those observed in more complex multi-component freeze-cast systems including lamellae, undulated ridges, and more exotic “jellyfish-like” substructures. Multiscale 3D phase-field simulations reproduce remarkably well those structures quantitatively and identify key properties of the ice-water interface that control their formation. They further reveal that lamellae form as a result of a novel symmetry-breaking secondary instability of partially faceted cellular structures and pinpoint additional secondary instability mechanisms giving rise to smaller-scale substructures.

Kaihua Ji↗
NASA NTRSDate not supplied

3D Phase-Field Simulations of Pattern Formation During Freeze Casting

We present the results of a combined experimental and phase-field modeling study of pattern formation during freeze casting. Those studies use unidirectional freezing of simple binary liquid mixtures of water and sugars (sucrose and trehalose) in a temperature gradient, which suffice to produce hierarchical templated structures similar to those observed in more complex multi-component freeze-cast systems including lamellae, undulated ridges, and more exotic “jellyfish-like” substructures. Multiscale 3D phase-field simulations reproduce remarkably well those structures quantitatively and identify key properties of the ice-water interface that control their formation. They further reveal that lamellae form as a result of a novel symmetry-breaking secondary instability of partially faceted cellular structures and pinpoint additional secondary instability mechanisms giving rise to smaller-scale substructures.

Kaihua Ji↗
NASA NTRS1988

Airborne measurements of tropospheric ozone destruction and particulate bromide formation in the Arctic

Aircraft profiles of O3 concentrations over the Arctic ice pack in spring exhibit a depletion of O3 beneath the surface temperature inversion. One such profile from the NOAA WP-3D Arctic Gas and Aerosol Sampling Program (AGASP) flights in April, 1986 north of Alert, NWT (YLT, 82.5 N) is shown. The gradient of O3 across the temperature inversion, which is essentially a step function from tropospheric values (35 to 40 ppbv) to 0, is somewhat masked by a 1-min running mean applied to the data. Evidence is presented that O3 destruction beneath the Arctic temperature inversion is the result of a photochemical reaction between gaseous Br compounds and O3 to produce particulate Br aerosol. It is noted that in springtime, O3 at the Alert Baseline Station regularly decreases from 30 to 40 ppbv to near 0 over the period of a few hours to a day. At the same time, there is a production of particulate Br with a near 1.0 anti-correlation to O3 concentration. Surface concentrations of bromoform in the Arctic exhibit a rapid decrease following polar sunrise. AGASP aircraft measurements of filterable bromine particulates in the Arctic (March-April, 1983 and 1986) are shown. The greatest concentrations of Br aerosol (shown as enrichment factors relative to to Na in seawater, EFBR (Na)) were observed in samples collected beneath the surface temperature inversion over ice. Samples collected at the same altitude over open ocean (off Spitzbergen) labeled Marine did not exhibit similar Br enrichments. A second region of particulate Br enrichment was observed in the lower stratosphere, which regularly descends to below 500 mb (5.5 km) in the high Arctic. The NOAA WP-3D flew in the stratosphere on all AGASP flights and occasionally measured O3 concentrations in excess of 300 ppbv.

Schnell, Russell C.↗
DOE OSTI2025

A novel transformation of the ice sheet Stokes equations and some of its properties and applications

We introduce a novel transformation of the Stokes equations into a form closely resembling the shallow Blatter–Pattyn equations. The two forms differ by only a few additional terms, while their variational formulations differ only by a single term in each horizontal direction. Specifically, the variational formulation of the Blatter–Pattyn model drops the vertical velocity in the second invariant of the strain rate tensor. Here we make use of the new transformation in two ways. First, we consider incorporating the transformed equations into a code that can be very easily converted from a Stokes to a Blatter–Pattyn model, and vice versa, by switching these terms on or off. This may be generalized so that the Stokes model is switched on adaptively only where the Blatter–Pattyn model loses accuracy. Second, the key role played by the vertical velocity in the Blatter–Pattyn approximation motivates new approximations. Two examples are presented. These require a mesh that enables the discrete continuity equation to be invertible for the vertical velocity in terms of the horizontal velocity components. Examples of such meshes, such as the first-order P1–E0 mesh and the second-order P2–E1 mesh, are given in both 2D and 3D. However, the transformed Stokes model has the same type of gravity forcing as the Blatter–Pattyn model, determined by the ice surface slope, thereby forgoing some of the mesh generality of the traditional formulation of the Stokes model.

58 GEOSCIENCES↗
DOE OSTI2021

Interagency Agreement No. DE-SC0006988 (Final Technical Report)

The overarching goal of this project was to advance understanding of deep convection updraft microphysics—the source of long-lived stratiform ice—by combining detailed mining of in situ and remote sensing data from the MC3E field campaign with detailed 3D simulations. The project began with parallel work, first strictly on the remote-sensing observation side via dedicated analysis of polarimetric radar signatures, which is a relatively new area, on the one hand. On the other hand, a more traditional but well-formulated preparation and comparison of detailed aerosol-aware simulations with in situ measurements was prepared. In the final phase of this work, these parallel elements were brought together into an integrated analysis of in situ and remote-sensing observations with model results. The project also supported team member involvement in collaborative activities.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2022

Real-time streaming tomographic reconstruction with on-demand data capturing and 3D zooming to regions of interest

Complex dynamic tomographic experiments at brilliant X-ray light sources require real-time feedback on the sample changes with respect to environmental conditions, selecting representative regions of interest for high-resolution scanning, and on-demand data saving mechanisms for storing only relevant projections acquired by fast area detectors and reducing data volumes. Here the implementation details of a 3D real-time imaging monitoring instrument, with zooming to a volume of interest with easy-to-use visualization via ImageJ , a tool familiar to most beamline users, is presented. The instrument relies on optimized data flow between the detector and processing machines and is implemented on commodity computers. The instrument has been developed at beamline 2-BM of the Advanced Photon Source, where the automatic lens changing mechanism for zooming is implemented with an Optique Peter microscope. Performance tests demonstrate the ability to process more than 3 GB of projection data per second and generate real-time 3D zooming with different magnification. These new capabilities are essential for new APS Upgrade instruments such as the projection microscope under development at beamline 32-ID. The efficacy of the proposed instrument was demonstrated during an in situ tomographic experiment on ice and gas hydrate formation in porous samples.

3D zooming↗
NASA NTRS2004

Theoretical and Observational Determination of Global and Regional Radiation Budget, Forcing and Feedbacks at the Top-of-Atmosphere and Surface

Report consists of: 1. List of accomplishments 2. List of publications 3. Abstracts of published or submitted papers and 4. Subject invention disclosure. The accomplishments of the grant listed are: 1. Improved the third-order turbulence closure in cloud resolving models to remove the liquid water oscillation. 2. Used the University of California-Los Angeles (UCLA) large-eddy simulation (LES) model to provide data for radiation transfer testing. 3. Revised shortwave k-distribution models based on HITRAN 2000. 4. Developed a gamma-weighted two-stream radiative transfer model for radiation budget estimate applications. 5. Estimated the effect of spherical geometry to the earth radiation budget. 6. Estimated top-of-atmosphere irradiance over snow and sea ice surfaces. 7. Estimated the aerosol direct radiative effect at the top of the atmosphere. 8. Estimated the top-of-atmosphere reflectance of the clear-sky molecular atmosphere over ocean. 9. Developed and validated new set of Angular Distribution Models for the CERES TRMM satellite instrument (tropical) 10. Developed and validated new set of Angular Distribution Models for the CERES Terra satellite instrument (global) 11. Quantified the top-of-atmosphere direct radiative effect of aerosols over global oceans from merged CERES and MODIS observations 12 Clarified the definition of TOA flux reference level for radiation budget studies 13. Developed new algorithm for unfaltering CERES measured radiances 14. Used multiangle POLDER measurements to produce narrowband angular distribution models and examine the effect of scene identification errors on TOA albedo estimates 15. Developed and validated a novel algorithm called the Multidirectional Reflectance Matching (MRM) model for inferring TOA albedos from ice clouds using multi-angle satellite measurements. 16. Developed and validated a novel algorithm called the Multidirectional Polarized Reflectance Matching (MPRM) model for inferring particle shapes from ice clouds using multi-angle polarized satellite measurements. 17. Developed 4 advanced light scattering models including the three-dimensional (3D) uniaxial perfectly matched layer (UPML) finite-difference time-domain (FDTD) model. 18. Develop sunglint in situ measurement and study reflectance distribution in the sunglint area. 19. Lead a balloon-borne radiometer TOA albedo validation effort. 20. Developed a CERES surface UVB, UVA, and UV index product.

Loeb, Norman G.↗
NASA NTRS2015

Pathways Intern Report

During my time at NASA, I worked with the Granular Mechanics and Regolith Organization (GMRO), better known as Swamp Works. The goal of the lab is to find ways to utilize resources found after the astronaut or robot has landed on another planet or asteroid. This concept is known as in-situ resource utilization and it is critical to long term missions such as those to Mars. During my time here I worked on the Asteroid and Lava Tube Free Flyer project (ALTFF). A lava tube, such as the one shown in figure 1, is a long tear drop shaped cavern that is produced when molten lava tunnels through the surrounding rock creating large unground pathways. Before mining for resources on Mars or on asteroids, a sampling mission must be done to scout out useful resource deposits. ALTFF's goal is to provide a low cost, autonomous scout robot that can sample the surface and return to the mother ship or lander for further processing of the samples. The vehicle will be looking for water ice in the regolith that can be processed into either potable water, hydrogen and oxygen fuel, or a binder material for 3D printing. By using a low cost craft to sample, there is much less risk to the more expensive mother ship or lander. While my main task was the construction of a simulation environment to test control code in and the construction of the asteroid free flyer prototype, there were other tasks that I performed relating to the ALTFF project.

Pathways↗
NASA NTRS2018

Active and Passive Radiative Transfer Modeling of the Olympic Mountains Experiment

Sensor forward models are an important tool for interpreting remote sensing observations of geophysical phenomena. By implementing a three-dimensional framework, we can simulate and analyze observations from various sensors on disparate platforms. To demonstrate our model framework, we simulate observations from the Olympic Mountains Experiment (OLYMPEX). The use of cloud model simulations allows us to understand sensor response to cloud ice, falling snow, and other processes and features, and the application of model tools to observations allows us to quantify precipitation.MIIST 3D Forward ModelThe Multi-Instrument Inverse Solver Testbed(MIIST) uses the Atmospheric Radiative TransferSimulator (ARTS) for solving the vector radiativetransfer (RT) equation in up to three spatialdimensions within a spherical geometry• Gas absorptiono Line-by-line calculationso Fast transmittance tables• Hydrometeor scattering solverso Discrete ordinateo RT4 (Evans, 1D)o Radar Single Scattering (1D or 3D)o Monte Carlo (3D)Scattering TablesHigh-fidelity hydrometeor scatteringtables are necessary for accurateand consistent forward modeling ofmulti-frequency observations• Requires full Stokes matriceso And absorption vector• Randomly oriented particleso Discrete Dipole Approximationo Characteristic Basis Function Method(coming soon)• Horizontally-oriented plateso Invariant Imbedding T-matrix MethodCloud Resolving SimulationsCloud resolving simulations (e.g.,NU-WRF) supply output consistentwith ARTS needs• Atmospheric Informationo Temperatureo Pressure / heighto Water vapor• Hydrometeor Profileso ARTS architecture ripe for explicit binmicrophysics• Examples use Morrison 2M schemeThe Olympic Mountains Experiment (OLYMPEX)Validation for GPM of mid-latitudefrontal systems approaching nearcoastalmountains from the ocean• Large collection of ground-based andairborne sensorso Radarso Radiometerso In situ• Contemporaneous with RADEXo Two sets of radar at same frequenciesRadiometer Simulation (3 km NUWRF, 20151203, 15:00)2018.12.14 7Simulate 166 GHz polarizationdifference• Corresponds to the presence of aligned icecrystals• Look at trends for both simulations andobservations• Simulations can tolerate lower resolutiono Larger domainSimulations from Observations: OLYMPEXSimulate sensor response usinggeophysical retrievals as input• Single frequency radar retrievals• Multiple scattering enhancementapparent at W band• Spatially dependent phenomenonModeling Application: 1D Retrievals03 December 2015• DC-8 and ER-2 flightso Focus on APR-3 (DC-8)• Citationo Stacked microphysics legso Qualitative comparisonso Range of frozen habitso Presence of supercooledliquid cloudsResults• Retrievals match probeso Good qualitative match• Bands of increasedreflectivity correspond tolarge Dm and highaggregate fraction• Significant amounts ofsupercooled liquid water

Adams, Ian S.↗
NASA NTRSDate not supplied

Heatshield for Extreme Entry Environment Technology (Heeet) and 3D Woven TPS Readiness for Outer Planet Probe Missions

Recent mission studies have shown entry at Uranus or at Neptune will require 3-D Woven TPS, either the two-layer HEEET or the single layer 3MDCP, with 3MDCP being more mass efficient. The 3MDCP capability being developed to support MSR EES is sufficient for the Ice Giants if the probe size is 1.25 m or less. [The Uranus Orbiter Probe (UOP) Flagship study for the Decadal used a 1.26m diameter probe.] For larger diameters, dual layer HEEET is easily scalable and is already at TRL 6. It is possible to develop a seam approach that would allow the use of 3MDCP; the resultant mass savings could warrant such a development. Ames is already working on a concept towards this. If aerocapture becomes part of the mission design for Uranus, delivery of the probe from orbit will be easier. Whether or not the probe is delivered from orbit, 3-D Woven (HEEET or 3MDCP) is the only TPS qualified to enable Ice Giant in situ probes. In addition to UOP, Saturn probe mission concepts will be enabled by 3-D Woven, either HEEET or 3MDCP. Launch periods for the UOP flagship or a Saturn probe mission in the early to mid 2030s requires the community to ensure that the 3D woven capability does not atrophy. Currently other than MSR EES, no other mission requires 3-D wovens, and the manufacturing for MSR will be completed by 2023. A gap in production of 5 or more years requires careful monitoring of the industrial base. In addition, manufacturing of 3-D woven TPS, from procurement and weaving to molding and infusion, is a minimum 2-year activity. In response to the threat of atrophy and the time critical and intensive nature of restarting weaving, advocacy from OPAG to NASA SMD for a sustainability effort would ensure in situ exploration of the outer planets in the decades to come.

M Gasch↗
NASA NTRSDate not supplied

Simulation of Fluid Flow and Collection Efficiency for a SEA Inc. Multi-Element Probe and Ice Crystal Detector Using GlennICE

Numerical simulation results of fluid flow and collection efficiency of the Science Engineering Associates Inc. Multi-Element Probe (Multiwire) and Ice Crystal Detector (ICD) are presented. Fluid flow simulations were conducted using NASA's FUN3D while collection efficiency simulations were conducted using NASA's LEWICE3D software and GlennICE software. For both probes, 3D unsteady flow results were time averaged. Simulations were computed for freestream velocities ranging from 85 to 185 m/s and freestream total pressures of 44.8 and 93.1 kPa. Collection efficiency results were computed for four spherical particle diameter sizes of 5, 20, 50, and 100 µm. GlennICE collection efficiency results for the multiwire were compared with previously published collection efficiency values calculated using LEWICE3D. Numerical collection efficiency results for the Ice Crystal Detector are presented for the first time.

aircraft, icing, Computational Fluid Dynamics↗
NASA NTRSDate not supplied

Simulation of Fluid Flow and Collection Efficiency for a SEA Inc. Multi-Element Probe and Ice Crystal Detector Using GlennICE

Numerical simulation results of fluid flow and collection efficiency of the Science Engineering Associates Inc. Multi-Element Probe (Multiwire) and Ice Crystal Detector (ICD) are presented. Fluid flow simulations were conducted using NASA's FUN3D while collection efficiency simulations were conducted using NASA's LEWICE3D software and GlennICE software. For both probes, 3D unsteady flow results were time-averaged. Simulations were computed for free steam velocities ranging from 85 to 185 m/s and freestream total pressures of 44.8 and 93.1 kPa. Collection efficiency results were computed for four spherical particle diameter sizes of 5, 20, 50, and 100 µm. GlennICE collection efficiency results for the multiwire were compared with previously published collection efficiency values calculated using LEWICE3D. Numerical collection efficiency results for the Ice Crystal Detector are presented for the first time.

aircraft, icing, Computational Fluid Dynamics↗
DOE OSTI2024

Magnetic metamaterials by ion-implantation

We present a method for the additive fabrication of planar magnetic nanoarrays with minimal surface roughness. Synthesis is accomplished by combining electron-beam lithography, used to generate nanometric patterned masks, with ion implantation in thin films. By implanting 56 Fe + ions, we are able to introduce magnetic functionality in a controlled manner into continuous Pd thin films, achieving 3D spatial resolution down to a few tens of nanometers. Our results demonstrate the application of this technique in fabricating square artificial spin ice lattices, which exhibit well-defined magnetization textures and interactions among the patterned magnetic elements.

36 MATERIALS SCIENCE↗
NASA NTRS2016

CubeSub - A CubeSat Based Submersible Testbed for Space Technology

This report is a Master's Thesis in Aerospace Engineering, performed at the NASA Ames Research Center. It describes the development of the CubeSub, a submersible testbed compatible with the CubeSat form factor. The CubeSub will be used to mature technology and operational procedures to be used in space exploration, and possibly also as a tool for exploration of Earthly environments. CubeSats are carried as payloads, either containing technology to be tested or experiments and sensors for scientific use. The CubeSub is designed to be built up by modules, which can be assembled in different configurations to fulfill different needs. Each module is powered individually and intermodular communication is wireless, reducing the need for wiring. The inside of the hull is flooded with ambient water to simplify the interaction between payloads and surrounding environment. The overall shape is similar to that of a conventional AUV, slender and smooth. This is to make for a low drag, reduce the risk of snagging on surrounding objects and make it possible to deploy through an ice sheet via a narrow borehole. Rapid prototyping is utilized to a large extent, with full-scale prototypes being constructed through 3D-printing and with COTS (Commercial Off-The-Shelf) components. Arduino boards are used for control and internal communication. Modules required for basic operation have been designed, manufactured and tested. Each module is described with regards to its function, design and manufacturability. By performing tests in a pool it was found that the basic concept is sound and that future improvements include better controllability, course stability and waterproofing of electrical components. Further development is needed to make the CubeSub usable for its intended purposes. The largest gains are expected to be found by developing the software and improving controllability.

Europa↗