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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2017

The Effect of the Spin-Forbidden Co((sup 1) Sigma plus) plus O((sup 3) P) Yields CO2 (1 Sigma (sub G) plus) Recombination Reaction on Afterbody Heating of Mars Entry Vehicles

Vibrationally excited CO2, formed by two-body recombination from CO((sup 1) sigma plus) and O((sup 3) P) in the wake behind spacecraft entering the Martian atmosphere reaction, is potentially responsible for the higher than anticipated radiative heating of the backshell, compared to pre-flight predictions. This process involves a spin-forbidden transition of the transient triplet CO2 molecule to the longer-lived singlet. To accurately predict the singlet-triplet transition probability and estimate the thermal rate coefficient of the recombination reaction, ab initio methods were used to compute the first singlet and three lowest triplet CO2 potential energy surfaces and the spin-orbit coupling matrix elements between these states. Analytical fits to these four potential energy surfaces were generated for surface hopping trajectory calculations, using Tully's fewest switches surface hopping algorithm. Preliminary results for the trajectory calculations are presented. The calculated probability of a CO((sup 1) sigma plus) and O((sup 3) P) collision leading to singlet CO2 formation is on the order of 10 (sup -4). The predicted flowfield conditions for various Mars entry scenarios predict temperatures in the range of 1000 degrees Kelvin - 4000 degrees Kelvin and pressures in the range of 300-2500 pascals at the shoulder and in the wake, which is consistent with a heavy-particle collision frequency of 10 (sup 6) to 10 (sup 7) per second. Owing to this low collision frequency, it is likely that CO((sup 1) sigma plus) molecules formed by this mechanism will mostly be frozen in a highly nonequilibrium rovibrational energy state until they relax by photoemission.

CO2 recombination↗
NASA NTRS1973

Competition between charge exchange and chemical reaction - The D2/+/ + H system

Study of the special features of molecular charge exchange and its competition with chemical reaction in the case of the D2(+) + H system. The trajectory surface hopping (TSH) model proposed by Tully and Preston (1971) is used to study this competition for a number of reactions involving the above system. The diatomics-in-molecules zero-overlap approximation is used to calculate the three adiabatic surfaces - one triplet and two singlet - which are needed to describe this system. One of the significant results of this study is that the chemical reaction and charge exchange are strongly coupled. It is also found that the number of trajectories passing into the chemical regions of the three surfaces depends very strongly on the surface crossings.-

Preston, R. K.↗
NASA NTRS1974

Crossed beam study of the reaction O/+/ + N2 yields NO/+/ + N

The kinematics of the reaction O(+)(4 S) + N2 yields NO(+) + N were studied using crossed molecular beams. Product angular and energy distributions were measured for the initial relative translational energy range from 1.5 to 15.8 eV. The products are formed in their ground electronic states. The product distributions are described, with some deviations, by the spectator stripping model. No evidence was found for a persistent complex or for a second mechanism. A scattering chamber study of 0 deg lab was made of the related reactions 15N(+) + 14NO yields 15N14N(+), 15NO(+), 14NO(+). The results obtained are discussed in terms of possible surface hopping effects.

Smith, G. P. K.↗
NASA NTRS2003

Bio-Inspired Engineering of Exploration Systems

The multidisciplinary concept of "bioinspired engineering of exploration systems" (BEES) is described, which is a guiding principle of the continuing effort to develop biomorphic explorers as reported in a number of articles in the past issues of NASA Tech Briefs. The intent of BEES is to distill from the principles found in successful nature-tested mechanisms of specific crucial functions that are hard to accomplish by conventional methods but that are accomplished rather deftly in nature by biological organisms. The intent is not just to mimic operational mechanisms found in a specific biological organism but to imbibe the salient principles from a variety of diverse bio-organisms for the desired crucial function. Thereby, we can build explorer systems that have specific capabilities endowed beyond nature, as they will possess a combination of the best nature-tested mechanisms for that particular function. The approach consists of selecting a crucial function, for example, flight or some selected aspects of flight, and develop an explorer that combines the principles of those specific attributes as seen in diverse flying species into one artificial entity. This will allow going beyond biology and achieving unprecedented capability and adaptability needed in encountering and exploring what is as yet unknown. A classification of biomorphic flyers into two main classes of surface and aerial explorers is illustrated in the figure, with examples of a variety of biological organisms that provide the inspiration in each respective subclass. Such biomorphic explorers may possess varied mobility modes: surface-roving, burrowing, hopping, hovering, or flying, to accomplish surface, subsurface, and aerial exploration. Preprogrammed for a specific function, they could serve as one-way communicating beacons, spread over the exploration site, autonomously looking for/at the targets of interest. In a hierarchical organization, these biomorphic explorers would report to the next level of exploration mode (say, a large conventional lander/rover) in the vicinity. A widespread and affordable exploration of new/hazardous sites at lower cost and risk would thus become possible by utilizing a faster aerial flyer to cover long ranges and deploying a variety of function- specific, smaller biomorphic explorers for distributed sensing and local sample acquisition. Several conceptual biomorphic missions for planetary and terrestrial exploration applications have been illustrated in "Surface-Launched Explorers for Reconnaissance/ Scouting" (NPO-20871), NASA Tech Briefs, Vol. 26, No. 4 (April, 2002), page 69 and "Bio-Inspired Engineering of Exploration Systems," Journal of Space Mission Architecture, Issue 2, Fall 2000, pages 49-79.

Thakoor, Sanita↗
NASA NTRS1988

To sail the skies of Mars - Scientific ballooning on the red planet

Balloons represent a novel approach to exploring the surface of Mars. One promising aerostat system incorporates a solar-powered balloon as a means of generating diurnally varying lift and so can 'hop' across the surface, obtaining detailed information at a large number of sites. Two important areas of research and testing are underway on solar balloon technology and balloon payload design. The solar balloon concept has been demonstrated on earth, but more work is needed on a 'flyable' version for Mars. Particular attention must be paid to radiation heat transfer and aerodynamic effects. A special 'snake' payload concept has been demonstrated that allows for balloon system traverses of the surface and provides a usable instrument platform. A balloon system of this type could obtain unique surface imaging and physical and chemical data. The flight of the balloon also provides in situ atmospheric boundary-layer and circulation measurements.

Gaidos, Eric J.↗
NASA NTRSDate not supplied

Design of a Radioisotope Heat Exchanger Rocket

The state of planetary exploration vehicle technology has become increasingly more advanced over its long history. Better technologies enable more detailed scientific research to be conducted during the vehicle’s life, while advanced manufacturing strategies allow the vehicles to operate for greater lengths of time. However, one aspect of these vehicles has remained constant: the means of exploration. Previous vehicles have all relied on wheels to traverse the surface of the explored planet, limiting their range. The Mars Opportunity Rover, the longest operating rover, only traveled 45.15 km over its life. The radioisotope heat exchanger rocket is a new vehicle concept, designed to use heated gas as a means of propellant. The vehicle collects gas from the surface of a body, stores it in a heated tank, and passes it through a heat exchanger. This process significantly increases the temperature of the collected gas, allowing it to exit through a nozzle with high velocity and efficiency. This process will enable the vehicle to hop across the surface of the body and repeatedly refuel, with the potential of travelling thousands of kilometers during its lifetime. A computer model was constructed to simulate the heat exchanger and nozzle of this proposed system. This simulation allowed the heat exchanger and propellant tank properties to be optimized for the current mission parameters: the exploration of Triton. The nitrogen flows through a 25 kg lithium heat exchanger, consisting of 540, 1.5-mm diameter, 40-cm long Titanium Zirconium Molybdenum pipes, to three operating nozzles. Once landed, the vehicle will conduct science and refueling operations for six days before hopping again. With the optimized design determined from the simulations conducted in this paper, 235.26 kg of nitrogen is collected and stored in a 300 K, 3000 psia tank. With these parameters, a potential hop distance of 39 km with an average specific impulse of 127.5 s is attained. A previous iteration of this vehicle did not include a heat exchanger, instead heating 100 kg of nitrogen to 300 K, only allowing the vehicle to hop 5 km and with a low specific impulse of 60 s. Thus, the addition of the heat exchanger component of the vehicle is shown to potentially double the specific impulse and quadruple the hop distance compared to the previous design.

Thomas E. O'Brien↗
NASA NTRS2015

Human Exploration of Phobos

This study developed, analyzed, and compared mission architectures for human exploration of Mars' Moons within the context of an Evolvable Mars Campaign. METHODS: All trades assumed conjunction class missions to Phobos (approximately 500 days in Mars system) as it was considered the driving case for the transportation architecture. All architectures assumed that the Mars Transit Habitat would remain in a High Mars Orbit with crewmembers transferring between HMO and Phobos in a small crew taxi vehicle. A reference science / exploration program was developed including performance of a standard set of tasks at 55 locations on the Phobos surface. Detailed EVA timelines were developed using realistic flight rules to accomplish the reference science tasks using exploration systems ranging from jetpacks to multi-person pressurized excursion vehicles combined with Phobos surface and orbital (L1, L4/L5, 20km Distant Retrograde Orbit) habitat options. Detailed models of propellant mass, crew time, science productivity, radiation exposure, systems and consumables masses, and other figures of merit were integrated to enable quantitative comparison of different architectural options. Options for pre-staging assets using solar electric propulsion (SEP) vs. delivering all systems with the crew were also evaluated. Seven discrete mission architectures were evaluated. RESULTS: The driving consideration for habitat location (Phobos surface vs. orbital) was radiation exposure, with an estimated reduction in cumulative mission radiation exposure of up to 34% (vs. Mars orbital mission) when the habitat is located on the Phobos surface, compared with only 3-6% reduction for a habitat in a 20km DRO. The exploration utility of lightweight unpressurized excursion vehicles was limited by the need to remain within 20 minutes of Solar Particle Event radiation protection combined with complex GN&C systems required by the non-intuitive and highly-variable gravitational environment. Two-person pressurized excursion vehicles as well as mobile surface habitats offer significant exploration capability and operational benefits compared with unpressurized EVA mobility systems at the cost of increased system and propellant mass. Mechanical surface translation modes (i.e. hopping) were modeled and offer potentially significant propellant savings and the possibility of extended exploration operations between crewed missions. Options for extending the utilization of the crew taxi vehicle were examined, including use as an exploration asset for Phobos surface exploration (when combined with an alternate mobility system) and as an EVA platform, both on Phobos and for contingency EVA on the Mars Transit Habitat. CONCLUSIONS: Human exploration of Phobos offers a scientifically meaningful first step towards human Mars surface missions that develops and validates transportation, habitation, and exploration systems and operations in advance of the Mars landing systems.

Abercromby, Andrew F. J.↗
NASA NTRS2018

Triton Hopper: Exploring Neptune's Captured Kuiper Belt Object

Neptune's moon Triton is a fascinating object, a dynamic moon with an atmosphere, and geysers. Triton is unique in the outer solar system in that it is most likely a captured Kuiper belt object (KBO), a leftover building block of the solar system. When Voyager flew by it was the coldest body yet found in our solar system (33 degrees Kelvin) and had volcanic activity, geysers, and a thin atmosphere. It is covered in ices made from nitrogen, water, and carbon-dioxide, and shows surface deposits of tholins, organic compounds that may be precursor chemicals to the origin of life. Exploring Triton will be a challenge well beyond anything done in previous missions; but the unique environment of Triton also allows some new possibilities for mobility. We developed a conceptual design of a Triton Hopping probe that both analyzes the surface and collects it for use to propel its hops. The Hopper would land near the South Pole in 2040 where geysers have been detected. Depending the details of propulsion chosen the Hopper should be able to jump over 300 kilometers in 60 hops or less, exploring the surface and thin atmosphere on its way. This craft will autonomously carry out detailed scientific investigations on the surface, below the surface (drilling) and in the upper atmosphere to provide unprecedented knowledge of a KBO-turned moon and expanding NASA's existing capabilities in deep space planetary exploration to include Hoppers using different ices for propellant. Triton is roughly 2700 kilometers in diameter with a surface of mostly frozen nitrogen, mostly water ice crust and core of metal and rock. Its gravity is half that of Earth's Moon and its atmosphere is 170,000th of Earth's or 0.3 of Mars.The mission concept studied investigated the full surface and atmospheric phenomenon: chemical composition of surface and near subsurface materials, the thin atmosphere, volcanic and geyser activity. Measurements of all these aspects of Triton's unique environment can only be made through focused in-situ exploration with a well-instrumented craft. And this craft will be provided revolutionary mobility, nearly global, using in-situ ices as propellants. While other concepts have looked at gathering gases at Mars to propel a hopper, long periods of time are needed to gather the thin CO2 atmosphere. Several gases, mainly nitrogen are on the surface in a readily dense ice form and just need to be picked up, vaporized and used for propellant.

low conductivity materials↗
NASA NTRS2015

Phobos Mobility Simulation

Phobos, the larger of Mars' moons, provides a potential staging location for human exploration of the Martian surface. Its low gravity (about 1/200th of Earth) and lack of atmosphere makes it an attractive destination before a more complex human landing on Mars is attempted. While easier to approach and depart than Mars itself, Phobos provides unique challenges to visiting crews. It is irregularly shaped, so its local gravitational field does not always point straight down with respect to the visible horizon. It is very close to Mars and tidally locked, so the Martian gravity gradient and applied acceleration greatly affect the perceived surface gravity direction and magnitude. This simulation allows the assessment of unique mobility approaches on the surface of Phobos, including hopping in particular.

Bielski, Paul↗
NASA NTRS2022

Gravity Poppers: Hopping Probes for the Internal Mapping of Small Solar System Bodies

This paper presents the results of NIAC Phase I study into the feasibility of a novel mission architecture for highresolution gravity science on small Solar System bodies. The “Gravity Poppers” mission concept (see Fig. 1) consists of a swarm of small, minimalistic probes that are deployed from a mother spacecraft to the surface of a small body and which periodically and randomly hop around the surface. By tracking the ballistic sub-orbital trajectories of this hopping swarm, a very high resolution gravity field can be measured, which can then be used to answer a number of scientific questions of interest regarding the interior mass distribution of the body. This paper describes the three core focus areas of our study to demonstrate concept feasibility: (1) the design of hopping probes to be small, simple, robust, and “visible” to a distant spacecraft, (2) the tracking strategy for detecting and estimating the trajectories of a large number of ballistic probes, and (3) the algorithmic framework by which such measurements can be used to estimate the body’s gravity field. Our results suggest the ability to estimate the gravity field of a 500m asteroid beyond degree-and-order 40 through days to weeks of optical tracking of several LED-strobing probes, with a mass of only 200 g each. Collectively, this study demonstrates that the high-resolution gravity mapping of small body interiors is technically possible, economically feasible, and would enable a compelling set of science objectives aligned with NASA’s goals in planetary science, planetary defense, and future interests in resource prospecting.

McMahon, Jay↗
NASA NTRS2021

Gravity Poppers: Hopping Probes for the Interior Mapping of Small Solar System Bodies

This study investigated a novel mission architecture for high-resolution gravity science on small Solar System bodies. The “Gravity Poppers” mission concept consists of a swarm of small, minimalistic probes that would be deployed from a mother spacecraft to the surface of a small body and which would periodically and randomly hop around the surface. By tracking the ballistic sub-orbital trajectories of this hopping swarm, a very high-resolution gravity field can be measured, which can then be used to answer a number of scientific questions of interest regarding the interior mass distribution of the body.

NIAC Phase I↗
NASA NTRS2010

Steerable Hopping Six-Legged Robot

The figure depicts selected aspects of a six-legged robot that moves by hopping and that can be steered in the sense that it can be launched into a hop in a controllable direction. This is a prototype of hopping robots being developed for use in scientific exploration of rough terrain on remote planets that have surface gravitation less than that of Earth. Hopping robots could also be used on Earth, albeit at diminished hopping distances associated with the greater Earth gravitation. The upper end of each leg is connected through two universal joints to an upper and a lower hexagonal frame, such that the tilt of the leg depends on the relative position of the two frames. Two non-back-driveable worm-gear motor drives are used to control the relative position of the two frames along two axes 120 apart, thereby controlling the common tilt of all six legs and thereby, further, controlling the direction of hopping. Each leg includes an upper and a lower aluminum frame segment with a joint between them. A fiberglass spring, connected via hinges to both segments, is used to store hopping energy prior to launch into a hop and to cushion the landing at the end of the hop. A cable for loading the spring is run into each leg through the center of the universal joints and then down along the center lines of the segments to the lower end of the leg. A central spool actuated by a motor with a harmonic drive and an electromagnetic clutch winds in all six cables to compress all six springs (thereby also flexing all six legs) simultaneously. To ensure that all the legs push off and land in the same direction, timing- belt pulley drives are attached to the leg segments, restricting the flexing and extension of all six legs to a common linear motion. In preparation for a hop, the spool can be driven to load the spring legs by an amount corresponding to a desired hop distance within range. The amount of compression can be computed from the reading of a shaft-angle encoder that indicates the amount by which the spool has been turned. When the robot is ready to hop, the electromagnetic clutch disengages the motor from the spool, thus releasing the cable restraints on the springs and allowing the springs to extend all six legs simultaneously.

Younse, Paulo↗
NASA NTRS2017

Spacecraft/Rover Hybrids for the Exploration of Small Solar System Bodies: Final Report: NASA NIAC - Phase II Study

This study investigated a mission architecture that allows the systematic and affordable in-situ exploration of small solar system bodies, such as asteroids, comets, and Martian moons (Figure 1). The architecture relies on the novel concept of spacecraft/rover hybrids,which are surface mobility platforms capable of achieving large surface coverage (by attitude controlled hops, akin to spacecraft flight), fine mobility (by tumbling), and coarse instrument pointing (by changing orientation relative to the ground) in the low-gravity environments(micro-g to milli-g) of small bodies. The actuation of the hybrids relies on spinning three internal flywheels. Using a combination of torques, the three flywheel motors can produce a reaction torque in any orientation without additional moving parts. This mobility concept allows all subsystems to be packaged in one sealed enclosure and enables the platforms to be minimalistic. The hybrids would be deployed from a mother spacecraft, which would act as a communication relay to Earth and would aid the in-situ assets with tasks such as localization and navigation (Figure 1). The hybrids are expected to be more capable and affordable than wheeled or legged rovers, due to their multiple modes of mobility (both hopping and tumbling), and have simpler environmental sealing and thermal management (since all components are sealed in one enclosure, assuming non-deployable science instruments). In summary, this NIAC Phase II study has significantly increased the TRL (Technology Readiness Level) of the mobility and autonomy subsystems of spacecraft/rover hybrids, and characterized system engineering aspects in the context of a reference mission to Phobos. Future studies should focus on improving the robustness of the autonomy module and further refine system engineering aspects, in view of opportunities for technology infusion.

mobility platforms↗
NASA NTRS2015

NASAs Evolvable Mars Campaign: Mars Moons Robotic Precursor

Human exploration missions to the moons of Mars are being considered within NASA's Evolvable Mars Campaign (EMC) as an intermediate step for eventual human exploration and pioneering of the surface of Mars. A range of mission architectures is being evaluated in which human crews would explore one or both moons for as little as 14 days or for as long as 500 days with a variety of orbital and surface habitation and mobility options being considered. Relatively little is known about the orbital, surface, or subsurface characteristics of either moon. This makes them interesting but challenging destinations for human exploration missions during which crewmembers must be able to effectively conduct scientific exploration without being exposed to undue risks due to radiation, dust, micrometeoroids, or other hazards. A robotic precursor mission to one or both moons will be required to provide data necessary for the design and operation of subsequent human systems and for the identification and prioritization of scientific exploration objectives. This paper identifies and discusses considerations for the design of such a precursor mission based on current human mission architectures. Objectives of a Mars' moon precursor in support of human missions are expected to include: 1) identifying hazards on the surface and the orbital environment at up to 50-km distant retrograde orbits; 2) collecting data on physical characteristics for planning of detailed human proximity and surface operations; 3) performing remote sensing and in situ science investigations to refine and focus future human scientific activities; and 4) prospecting for in situ resource utilization. These precursor objectives can be met through a combination or remote sensing (orbital) and in-situ (surface) measurements. Analysis of spacecraft downlink signals using radio science techniques would measure the moon's mass, mass distribution, and gravity field, which will be necessary to enable trajectory planning. Laser altimetry would precisely measure the moon's shape and improve the accuracy of radio science measurements. A telescopic imaging camera would map the moon at submeter resolution and photograph selected areas of interest at subcentimeter resolution and a visible and near-infrared (0.4-3.0 mm) imaging spectrograph would produce a global map of mineral composition variations at a resolution of tens of meters and maps of selected areas of interest at meter resolution. Additional remote sensing capabilities could include a thermal infrared imager (heat flow, thermal inertia, and grain size distributions), a gamma-ray and neutron detector (atomic composition), a ground-penetrating radar (internal structure), and a magnetometer and Langmuir probe (magnetic properties and plasma field). Once on the surface of Phobos or Deimos, necessary instrumentation would include a penetrometer (regolith compressive strength), a motion-imagery camera (to observe the penetrometer tests before, during, and after contact), a dust-adhesion witness plate and camera (dust levitation), a microimager (dust particle sizes and shapes), and an alpha-proton-X-ray, X-ray fluorescence, Mossbauer, or Raman spectrometer (atomic and mineral composition of surface materials) and an optional temperature probe (regolith thermal properties). A variety of robotic mission design options to enable both orbital and surface measurements are being considered that include fully integrated and modular approaches. In-situ measurements from at least one surface location would be required, with additional measurement locations possible through use of multiple landers, through propulsive relocation of a single lander, or through electromechanical surface translation by a walking or hopping lander vehicle, which could also serve to evaluate such mobility capabilities for subsequent human missions. Preliminary orbital analysis suggests that remote sensing would likely be performed while in a distant retrograde orbit around the target moon. Mission design options to enable characterization of both Mars’ moons in a single mission are also being studied.

Gernhardt, Michael L.↗
NASA NTRS1972

Apollo 15 time and motion study

A time and motion study of Apollo 15 lunar surface activity led to examination of four distinct areas of crewmen activity. These areas are: an analysis of lunar mobility, a comparative analysis of tasks performed in 1-g training and lunar EVA, an analysis of the metabolic cost of two activities that are performed in several EVAs, and a fall/near-fall analysis. An analysis of mobility showed that the crewmen used three basic mobility patterns (modified walk, hop, side step) while on the lunar surface. These mobility patterns were utilized as adaptive modes to compensate for the uneven terrain and varied soil conditions that the crewmen encountered. A comparison of the time required to perform tasks at the final 1-g lunar EVA training sessions and the time required to perform the same task on the lunar surface indicates that, in almost all cases, it took significantly more time (on the order of 40%) to perform tasks on the moon. This increased time was observed even after extraneous factors (e.g., hardware difficulties) were factored out.

Kubis, J. F.↗
NASA NTRS2019

SPARROW: Steam Propelled Autonomous Retrieval Robot for Ocean Worlds

The Steam Propelled Autonomous Retrieval Robot (SPARROW) for Ocean Worlds was a Phase I mission concept study funded under the NASA NIAC program. This report represents the findings of that study and recommendations for future work. SPARROW, envisioned as a soccer ball-sized payload to a primary lander mission, is a propulsively hopping robot for the exploration of Europa's rugged, icy surface. A multi-thruster, passively gimballed robot within a protective, spherical shell, SPARROW is able to freely rotate, self-right, and tumble over chaotic terrains. Europa's abundant surface ice would be harvested as an in situ propellant source. The principal objective of SPARROW is to increase the science return of a Europa landed asset by enabling access to distal, spatially distributed geologic units. The design of mobility systems for Europa is challenging, due in part to its almost entirely unconstrained surface topography and strength. Images returned by Voyager and Galileo yielded resolutions on the order of hundreds of meters per pixel, with localized regions reaching 6 meters per pixel—still far larger than a typical rover. A key benefit of SPARROW's hopping, impact-tolerant design, is that it eliminates the need for a priori information regarding terrain topography and surface strength; no surface reaction forces are required for motion. In this context, SPARROW is believed to be entirely terrain agnostic. In this report we detail the results of three study objectives: i) to quantify the energy required to collect surface ice, change its phase, and maintain propellant temperature, ii) to identify control and estimation strategies that enable SPARROW to successfully reach, and return from, regions of scientific interest, and iii) to characterize the impact of SPARROW's range on likely science return. Five water-based propellant architectures are presented alongside their mass, power, and volume requirements. Monte Carlo simulations of SPARROW hopping and tumbling over 1 km of glacial ice are summarized, characterizing SPARROW's sensitivity to uncertainty in: initial pose, thrust profile, and vehicle-terrain interaction. A science traceability matrix is presented, which details the effect of sortie range on three science goals: constraining Europa's evolutionary morphology, assessing sub-surface ocean habitability, and searching for life and/or biosignatures.

Autonomous↗