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WOBBLE: A Proposed Mission to Characterize Past and Present Water on Mars
WOBBLE ("Water Observations from a Balloon Borne Light Explorer") is a mission concept study for a small robotic probe to explore Mars and to accomplish a scientific mission compatible with the goals of the NASA Code S enterprise. The detection of past or present water is a crucial goal for Mars exploration, representing a cross-cutting science theme relevant to past or extant life, climate history, sample return missions and eventual human exploration. The WOBBLE mission concept was developed to study evidence of water using in-situ detection methods. The features on Mars most suited to this investigation are the gullies identified by Malin and Edgett as evidence for recent, near-surface runoff of liquid water. These features are typically located on the inside face of crater rims, where the local slope angle is at or near the angle of repose. This makes the terrain difficult or impossible to access with conventional wheeled rover technology. Combined with the small size of the gullies in relation to a standard landing error ellipse, scientific investigation of these features requires a new approach to surface mobility. WOBBLE uses a low-altitude balloon-borne platform to traverse the surface from the landing site, to the investigation site, and then rise up the slope to investigate the regions of interest at close range. Of the mobility technologies available for near-term Mars exploration, only a balloon platform is capable of a well targeted, detailed sampling of the gully regions over periods of days or more. The science approach embodied in WOBBLE is two-pronged, designed to investigate both the historical evidence of liquid water utilizing high-resolution geomorphology and the characterization of mineral deposits, and present subsurface liquid water using radar sounding techniques. The WOBBLE balloon is a high-pressure hydrogen gas design, 24 meters in diameter and lifting a total payload of 130 kg, including a high-resolution camera/IR imager, Raman spectrometer, and a ground penetrating radar (GPR) sounder. The stowed balloon and payload are designed to fit within the current airbag delivery system being built for the Mars Exploration Rovers. Characterization of local meteorological conditions and wind is made over the initial sols following landing and before balloon inflation. Following balloon inflation and launch, a controlled, targeted approach toward the identified regions of interest is made in a series of several low-altitude "hops," with the balloon tethered to the ground between the hop intervals. A "snake" system is used to control the altitude to a few tens of meters above the local ground level. Enroute to the target gully, GPR soundings and Raman spectroscopy measurements study past or present water, while continued camera bearings and meteorological measurements refine the next "hop" trajectory. Once at the gully/outflow region, GPR and Raman soundings continue while the camera obtains detailed, approx. 0.5 cm images for geomorphology studies. The WOBBLE concept is applicable to Mars Scout, Mars Surveyor, or Discovery class missions.
NASA Tech Briefs, August 2009
Topics covered include: Aligning a Receiving Antenna Array to Reduce Interference; Collecting Ground Samples for Balloon-Borne Instruments; Tethered Pyrotechnic Apparatus for Acquiring a Ground Sample; Enhanced Video-Oculography System; Joint Carrier-Phase Synchronization and LDPC Decoding; Dual-Polarization, Sideband-Separating, Balanced Receiver for 1.5 THz Modular Battery Charge Controller; Efficient Multiplexer FPGA Block Structures Based on G4FETs; VLSI Microsystem for Rapid Bioinformatic Pattern Recognition; Low-Noise Amplifier for 100 to 180 GHz; Improved Fabrication of Ceramic Matrix Composite/Foam Core Integrated Structures; Inert Welding/Brazing Gas Filters and Dryers; Fabricating Copper Nanotubes by Electrodeposition; Reducing Aerodynamic Drag on Empty Open Cargo Vehicles; Rotary Percussive Auto-Gopher for Deep Drilling and Sampling; More About Reconfigurable Exploratory Robotic Vehicles; Thermostatic Valves Containing Silicone-Oil Actuators; Improving Heat Flux Performance of Flat Surface in Spray-Cooling Systems; Treating Fibrous Insulation to Reduce Thermal Conductivity; Silica-Aerogel Composites Opacified with La(sub0.7)Sr(sub0.3)MnO3; Cyclic Oxidation Behavior of CuCrAl Cold-Sprayed Coatings for Reusable Launch Vehicles; Ceramic Fiber Structures for Cryogenic Load-Bearing Applications; Elastomer Reinforced with Carbon Nanotubes; Biologically Inspired Purification and Dispersion of SWCNTs; A Technique for Adjusting Eigenfrequencies of WGM Resonators; Low-Pressure, Field-Ionizing Mass Spectrometer; Modifying Operating Cycles to Increase Stability in a LITS; Chamber for Simulating Martian and Terrestrial Environments; Algorithm for Detecting a Bright Spot in an Image; Extreme Programming: Maestro Style; Adaptive Behavior for Mobile Robots; Protocol for Communication Networking for Formation Flying; Planning Complex Sequences Using Compressed Representations; and Self-Supervised Learning of Terrain Traversability from Proprioceptive Sensors.
Tethered Pyrotechnic Apparatus for Acquiring a Ground Sample
A proposed alternative design for the balloon-borne ground-sampling system described in the immediately preceding article would not rely on free fall to drive a harpoonlike sample-collecting device into the ground. Instead, the harpoon-like sample-collecting device would be a pyrotechnically driven, tethered projectile. The apparatus would include a tripod that would be tethered to the gondola. A gun for shooting the projectile into the ground would be mounted at the apex of the tripod. The gun would include an electronic trigger circuit, a chamber at the breech end containing a pyrotechnic charge, and a barrel. A sabot would be placed in the barrel just below the pyrotechnic charge, and the tethered projectile would be placed in the barrel just below the sabot. The tripod feet would be equipped with contact sensors connected to the trigger circuit. In operation, the tripod would be lowered to the ground on its tether. Once contact with the ground was detected by the sensors on all three tripod feet, the trigger circuit would fire the pyrotechnic charge to drive the projectile into the ground. (Requiring contact among all three tripod feet and the ground would ensure that the projectile would be fired into the ground, rather than up toward the gondola or the balloon.) The tethered projectile would then be reeled back up to the gondola for analysis of the sample.
Tethered balloon system and High-Resolution Mass Spectrometry Reveal Increased Organonitrates Aloft Compared to the Ground Level
Atmospheric particles play critical roles in climate. However, significant knowledge gaps remain regarding the vertically resolved organic molecular-level composition of atmospheric particles due to aloft sampling challenges. To address this, we use a tethered balloon system at the Southern Great Plains Observatory and high-resolution mass spectrometry to, respectively, collect and characterize organic molecular formulas (MF) in the ground level and aloft (up to 750 m) samples. We show that organic MF uniquely detected aloft were dominated by organonitrates (139 MF; 54% of all uniquely detected aloft MF). Organonitrates that were uniquely detected aloft featured elevated O/C ratios (0.73 ± 0.23) compared to aloft organonitrates that were commonly observed at the ground level (0.63 ± 0.22). Unique aloft organic molecular composition was positively associated with increased cloud coverage, increased aloft relative humidity (~40% increase compared to ground level), and decreased vertical wind variance. Furthermore, 29% of extremely low volatility organic compounds in the aloft sample were truly unique to the aloft sample compared to the ground level, emphasizing potential oligomer formation at higher altitudes. Overall, this study highlights the importance of considering vertically resolved organic molecular composition (particularly for organonitrates) and hypothesizes that aqueous phase transformations and vertical wind variance may be key variables affecting the molecular composition of aloft organic aerosol.
Detection of Artificially Generated Seismic Signals Using Balloon-Borne Infrasound Sensors
Here, we conducted an experiment in Pahrump, Nevada, in June 2017, where artificial seismic signals were created using a seismic hammer, and the possibility of detecting them from their acoustic signature was examined. In this work, we analyze the pressure signals recorded by highly sensitive barometers deployed on the ground and on tethers suspended from balloons. Our signal processing results show that wind noise experienced by a barometer on a free-flying balloon is lower compared to one on a moored balloon. This has never been experimentally demonstrated in the lower troposphere. While seismoacoustic signals were not recorded on the hot air balloon platform owing to operational challenges, we demonstrate the detection of seismoacoustic signals on our moored balloon platform. Our results have important implications for performing seismology in harsh surface environments such as Venus through atmospheric remote sensing.
Site G - Surface Meteorological Station / Reviewed Data
This dataset contains meteorological data both from the ground and tether termination near the balloon on tethered balloon system at AWAKEN site G. The met data include time stamp, wind speed, temperature, relative humidity, and pressure.
Site A1 - Surface Meteorological Station / Reviewed Data
This dataset contains meteorological data both from the ground and tether termination near the balloon on tethered balloon system at AWAKEN site A1. The met data include time stamp, wind speed, temperature, relative humidity, and pressure.
Aerial Seismology Using Balloon-Based Barometers
Seismology on Venus has long eluded planetary scientists due to extreme temperature and pressure conditions on its surface, which most electronics cannot withstand for mission durations required for ground-based seismic studies. Here, we show that infrasonic (low-frequency) pressure fluctuations, generated as a result of ground motion, produced by an artificial seismic source known as a seismic hammer, and recorded using sensitive microbarometers deployed on a tethered balloon, are able to replicate the frequency content of ground motion. We also show that weak, artificial seismic activity thus produced may be geolocated by using multiple airborne barometers. The success of this technique paves the way for balloon-based aero-seismology, leading to a potentially revolutionary method to perform seismic studies from a remote airborne station on the earth and solar system objects with substantial atmospheres such as Venus and Titan.
North American Observing Systems: An Interagency Group Runs Tests at the NCCS
Some 250,000 weather reports are collected by the National Weather Service (NWS) every day. Important measurements are taken by satellites, weather balloons, ground weather stations, airplanes, oceangoing ships, and tethered ocean buoys. Local or global weather models rely on these reports to provide the raw data used as initial conditions for the models to produce a weather prediction.
Two Tethered Balloon Systems
Systems take meteorological measurements for variety of research projects. Report describes work done by NASA Langley Research Center in atmospheric research using tethered balloon systems composed of commercially available equipment. Two separate tethered balloon systems described in report have payloads and configurations tailored to requirements of specific projects. Each system capable of measuring atmospheric parameter or species in situ and then telemetering this data in real time to ground station. Meteorological data and concentration of ozone typically measured. Indicates instrumented tethered balloon systems have distinct advantages over other systems for gathering data on troposphere.
Collecting Ground Samples for Balloon-Borne Instruments
A proposed system in a gondola containing scientific instruments suspended by a balloon over the surface of the Saturn moon Titan would quickly acquire samples of rock or ice from the ground below. Prototypes of a sample-collecting device that would be a major part of the system have been tested under cryogenic and non-cryogenic conditions on Earth. Systems like this one could also be used in non-cryogenic environments on Earth to collect samples of rock, soil, ice, mud, or other ground material from such inaccessible or hazardous locations as sites of suspected chemical spills or biological contamination. The sample-collecting device would be a harpoonlike device that would be connected to the balloon-borne gondola by a tether long enough to reach the ground. The device would be dropped from the gondola to acquire a sample, then would be reeled back up to the gondola, where the sample would be analyzed by the onboard instruments. Each prototype of the sample-collecting device has a sharp front (lower) end, a hollow core for retaining a sample, a spring for holding the sample in the hollow core, and a rear (upper) annular cavity for retaining liquid sample material. Aerodynamic fins at the rear help to keep the front end pointed downward. In tests, these prototype devices were dropped from various heights and used to gather samples of dry sand, moist sand, cryogenic water ice, and warmer water ice.
Vertical column dual-comb spectroscopy to a TBS
Open-path dual-frequency-comb spectroscopy (DCS) is a broadband, high spectral resolution, and high precision method for measuring gas concentrations over kilometer-scale paths. It has been used for detection and quantification of emissions of pollutants, hazardous gasses, and greenhouse gasses (GHGs). DCS has been shown to measure trace-gas mixing ratios with 0.14%-0.4% agreement between instruments. To achieve high signal-to-noise ratios (SNRs) with DCS, comb light is targeted onto a retroreflector at the end of the measurement path, which returns the signal to a detector co-located with the launch signal. Installing the retroreflector on a mobile platform such as a balloon or unmanned aerial vehicle (UAV) extends the capabilities of DCS by enabling variable path lengths, greater mobility, and access to higher altitudes. Mobile-target DCS has many uses in plume and leak detection, emissions modeling, and planetary boundary layer (PBL) studies. It is a promising method for observing vertical distributions of GHGs and mixing processes in the PBL, which are difficult to measure but important for pollution and climate monitoring as well as for understanding transport of gasses through the atmosphere. Tethered balloons are an intriguing platform because they enable longer flight durations and higher altitudes than easily obtainable with a UAV and thus allow for column measurements up to and above the PBL. New measurements completed in October/November 2024 reach the highest altitudes above ground level yet achieved by mobile-target DCS. For these measurements, the retroreflector was mounted on a 7 m diameter tethered helium balloon. An actively tracking gimbal on the ground holds the DCS launch telescope and keeps the 5 cm beam pointed onto the retroreflector while the balloon is lifted, lowered, and moved by wind and turbulence.
Hy-wire and fast electric field change measurements near an isolated thunderstorm, appendix C
Electric field measurements near an isolated thunderstorm at 6.4 km distance are presented from both a tethered balloon experiment called Hy-wire and also from ground based fast and slow electric field change systems. Simultaneous measurements were made of the electric fields during several lightning flashes at the beginning of the storm which the data clearly indicate were cloud-to-ground flashes. In addition to providing a comparison between the Hy-wire technique for measuring electric fields and more traditional methods, these data are interesting because the lightning flashes occurred prior to changes in the dc electric field, although Hy-wire measured changes in the dc field of up to 750 V/m in the direction opposite to the fair weather field a short time later. Also, the dc electric field was observed to decay back to its preflash value after each flash. The data suggest that Hy-wire was at the field reversal distance from this storm and suggest the charge realignment was taking place in the cloud with a time constant on the order of 20 seconds.
The detection of the electric field vertical distribution underneath thundercloud: Principle and applications
During the Florida 89 experiment at Kennedy Space Center, a new system was used in order to obtain the vertical distribution of the electric field underneath thunderstorms. It consists of a standard shutter field mill at ground level and five other field sensors suspended from a cable fastened to a tethered balloon located at an altitude of about 1000 meters. It also includes a reception station for telemetered information transmitted by sensors, a processing system in order to store data, and real time display on a screen to show the simultaneous field variations at each level along with the instantaneous electric field profile. The first results obtained show the great importance of the electric field vertical distribution. The field detected at a height of 600m reaches 65 kV/m while that at the surface does not exceed 5 kV/m. The field intensity in altitude is a better criterion for determining the right moment to launch a rocket devoted to flash triggering. Using Gauss's law, the simultaneous field variations at several levels are used in order to evaluate charge densities. Average values close to 1nC.m(-3) are calculated in layers up to 600 m. The calculation of different average charge densities leads to the characterization of the layer between cloud and ground just before the leader propagation in the case of cloud to ground flash.
Assessing the vertical structure of Arctic aerosols using balloon-borne measurements
The rapidly warming Arctic is sensitive to perturbations in the surface energy budget, which can be caused by clouds and aerosols. However, the interactions between clouds and aerosols are poorly quantified in the Arctic, in part due to (1) limited observations of vertical structure of aerosols relative to clouds and (2) ground-based observations often being inadequate for assessing aerosol impacts on cloud formation in the characteristically stratified Arctic atmosphere. Here, we present a novel evaluation of Arctic aerosol vertical distributions using almost 3 years' worth of tethered balloon system (TBS) measurements spanning multiple seasons. The TBS was deployed at the U.S. Department of Energy Atmospheric Radiation Measurement Program's facility at Oliktok Point, Alaska. Aerosols were examined in tandem with atmospheric stability and ground-based remote sensing of cloud macrophysical properties to specifically address the representativeness of near-surface aerosols to those at cloud base. Based on a statistical analysis of the TBS profiles, ground-based aerosol number concentrations were unequal to those at cloud base 86 % of the time. Intermittent aerosol layers were observed 63 % of the time due to poorly mixed below-cloud environments, mostly found in the spring, causing a decoupling of the surface from the cloud layer. A uniform distribution of aerosol below cloud was observed only 14 % of the time due to a well-mixed below-cloud environment, mostly during the fall. The equivalent potential temperature profiles of the below-cloud environment reflected the aerosol profile 89 % of the time, whereby a mixed or stratified below-cloud environment was observed during a uniform or layered aerosol profile, respectively. In general, a combination of aerosol sources, thermodynamic structure, and wet removal processes from clouds and precipitation likely played a key role in establishing observed aerosol vertical structures. Results such as these could be used to improve future parameterizations of aerosols and their impacts on Arctic cloud formation and radiative properties.
Learn to Fly Test Setup and Concept of Operations
The NASA Learn-to-Fly (L2F) project recently completed a series of flight demonstrations of its learning algorithm for flight control at Fort A. P. Hill in Virginia. This paper discusses the test setup and concept of operations (ConOps) used by the L2F team. Unmanned airframe demonstrators for testing the research algorithms included a modified commercial off-the-shelf subscale powered airplane, plus four gliders – two of which had an unconventional configuration and were fabricated using a “rapid” prototyping technique. Avionics system similarities and differences between the test aircraft are described, as well as ground testing in preparation for flight. The ConOps discussion includes the development of a tethered helium balloon drop launch technique for the glider demonstrators. This launch method was chosen for its potential to be inexpensive and allow for rapid turn-around for multiple glider launches – but it also presented challenges, such as balloon tether avoidance, high angle of attack, low dynamic pressure initial conditions, and susceptibility to winds. A remotely piloted approach employing high-end hobbyist radio controlled (R/C) hardware was used for the powered demonstrator. This approach accommodated the interaction between the R/C flight system and the research flight control computer, engaging the L2F algorithm at varying initial conditions and artificially reducing the aircraft stability to stress the algorithm.