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Trajectory design considerations for small-body touch-and-go

"Touch-and-Go," or TAG, is an approach to small-body surface interrogation missions in which the spacecraft descends to the surface, remains in contact for a short time, and then ascends without coming to rest. Appropriate trajectory design solutions to support TAG missions vary widely based on the spacecraft dynamics, small-body environment, spacecraft and ground systems capabilities, and mission objectives. This paper discusses various factors that are considered during the process of developing a TAG mission trajectory and presents a few case study examples to demonstrate how TAG trajectories may vary from mission to mission.

Cangahuala, Alberto

Touch and Go Surface Sampler (TGSS)

The Touch and Go Surface Sampler (TGSS) is a new class of planetary and small body sample acquisition tool that can be used for the surface exploration of Europa, Titan and comets. TGSS in its basic configuration consists of a high speed sampling head attached to the end of a flexible shaft. The sampling head consists of counter rotating cutters that rotates at speeds of 3000 to 15000 RPM. The attractive feature of this if touch and go type sampler is that there are no requirements for a lander type spacecraft. Additional information is contained in the original extended abstract.

Gorevan, S. P.

Six Degrees-of-Freedom Ascent Control for Small-Body Touch and Go

A document discusses a method of controlling touch and go (TAG) of a spacecraft to correct attitude, while ensuring a safe ascent. TAG is a concept whereby a spacecraft is in contact with the surface of a small body, such as a comet or asteroid, for a few seconds or less before ascending to a safe location away from the small body. The report describes a controller that corrects attitude and ensures that the spacecraft ascends to a safe state as quickly as possible. The approach allocates a certain amount of control authority to attitude control, and uses the rest to accelerate the spacecraft as quickly as possible in the ascent direction. The relative allocation to attitude and position is a parameter whose optimal value is determined using a ground software tool. This new approach makes use of the full control authority of the spacecraft to correct the errors imparted by the contact, and ascend as quickly as possible. This is in contrast to prior approaches, which do not optimize the ascent acceleration.

Blackmore, Lars James C.

Integrated Modeling of Spacecraft Touch-and-Go Sampling

An integrated modeling tool has been developed to include multi-body dynamics, orbital dynamics, and touch-and-go dynamics for spacecraft covering three types of end-effectors: a sticky pad, a brush-wheel sampler, and a pellet gun. Several multi-body models of a free-flying spacecraft with a multi-link manipulator driving these end-effectors have been tested with typical contact conditions arising when the manipulator arm is to sample the surface of an asteroidal body. The test data have been infused directly into the dynamics formulation including such information as the mass collected as a function of end-effector longitudinal speed for the brush-wheel and sticky-pad samplers, and the mass collected as a function of projectile speed for the pellet gun sampler. These data represent the realistic behavior of the end effector while in contact with a surface, and represent a low-order model of more complex contact conditions that otherwise would have to be simulated. Numerical results demonstrate the adequacy of these multibody models for spacecraft and manipulator- arm control design. The work contributes to the development of a touch-and-go testbed for small body exploration, denoted as the GREX Testbed (GN&C for Rendezvous-based EXploration). The GREX testbed addresses the key issues involved in landing on an asteroidal body or comet; namely, a complex, low-gravity field; partially known terrain properties; possible comet outgassing; dust ejection; and navigating to a safe and scientifically desirable zone.

Quadrelli, Marco

Analysis of the Touch-And-Go Surface Sampling Concept for Comet Sample Return Missions

This paper studies the Touch-and-Go (TAG) concept for enabling a spacecraft to take a sample from the surface of a small primitive body, such as an asteroid or comet. The idea behind the TAG concept is to let the spacecraft descend to the surface, make contact with the surface for several seconds, and then ascend to a safe location. Sampling would be accomplished by an end-effector that is active during the few seconds of surface contact. The TAG event is one of the most critical events in a primitive body sample-return mission. The purpose of this study is to evaluate the dynamic behavior of a representative spacecraft during the TAG event, i.e., immediately prior, during, and after surface contact of the sampler. The study evaluates the sample-collection performance of the proposed sampling end-effector, in this case a brushwheel sampler, while acquiring material from the surface during the contact. A main result of the study is a guidance and control (G&C) validation of the overall TAG concept, in addition to specific contributions to demonstrating the effectiveness of using nonlinear clutch mechanisms in the sampling arm joints, and increasing the length of the sampling arms to improve robustness.

Touch-and-Go (TAG)

Adaption of G-TAG Software for Validating Touch and Go Asteroid Sample Return Design Methodology

A software tool is used to demonstrate the feasibility of Touch and Go (TAG) sampling for Asteroid Sample Return missions. TAG is a concept whereby a spacecraft is in contact with the surface of a small body, such as a comet or asteroid, for a few seconds or less before ascending to a safe location away from the small body. Previous work at JPL developed the G-TAG simulation tool, which provides a software environment for fast, multi-body simulations of the TAG event. G-TAG is described in Multibody Simulation Software Testbed for Small-Body Exploration and Sampling, (NPO-47196) NASA Tech Briefs, Vol. 35, No. 11 (November 2011), p.54. This current innovation adapts this tool to a mission that intends to return a sample from the surface of an asteroid. In order to demonstrate the feasibility of the TAG concept, the new software tool was used to generate extensive simulations that demonstrate the designed spacecraft meets key requirements. These requirements state that contact force and duration must be sufficient to ensure that enough material from the surface is collected in the brushwheel sampler (BWS), and that the spacecraft must survive the contact and must be able to recover and ascend to a safe position, and maintain velocity and orientation after the contact.

Blackmore, Lars James C.

Trajectory Design Considerations for Small Body Touch-and-Go

Outline: (1) Trajectory Description (2) Design Drivers: (2a) Dynamics (2b) Environment (2c) Spacecraft and Ground and System Capabilities (2d) Mission Objectives (3) Design Choices (4) Historical Precedents (5) Case Studies. What is Touch-and-Go (TAG)? (1) Descent to the surface (2) Brief contact (3) Ascends to a safe distance

comets

OSIRIS-REx Touch-and-Go (TAG) Mission Design for Asteroid Sample Collection

The Origins Spectral Interpretation Resource Identification Security Regolith Explorer (OSIRIS-REx) mission is a NASA New Frontiers mission launching in September 2016 to rendezvous with the near-Earth asteroid Bennu in October 2018. After several months of proximity operations to characterize the asteroid, OSIRIS-REx flies a Touch-And-Go (TAG) trajectory to the asteroid's surface to collect at least 60 g of pristine regolith sample for Earth return. This paper provides mission and flight system overviews, with more details on the TAG mission design and key events that occur to safely and successfully collect the sample. An overview of the navigation performed relative to a chosen sample site, along with the maneuvers to reach the desired site is described. Safety monitoring during descent is performed with onboard sensors providing an option to abort, troubleshoot, and try again if necessary. Sample collection occurs using a collection device at the end of an articulating robotic arm during a brief five second contact period, while a constant force spring mechanism in the arm assists to rebound the spacecraft away from the surface. Finally, the sample is measured quantitatively utilizing the law of conservation of angular momentum, along with qualitative data from imagery of the sampling device. Upon sample mass verification, the arm places the sample into the Stardust-heritage Sample Return Capsule (SRC) for return to Earth in September 2023.

OSIRIS-REX TOUCH-AND-GO (TAG) MISSION DESIGN FOR A

OSIRI-REx Touch and Go (TAG) Navigation Performance

The Origins Spectral Interpretation Resource Identification Security Regolith Explorer (OSIRIS-REx) mission is a NASA New Frontiers mission launching in 2016 to rendezvous with the near-Earth asteroid (101955) Bennu in late 2018. Following an extensive campaign of proximity operations activities to characterize the properties of Bennu and select a suitable sample site, OSIRIS-REx will fly a Touch-And-Go (TAG) trajectory to the asteroid's surface to obtain a regolith sample. The paper summarizes the mission design of the TAG sequence, the propulsive maneuvers required to achieve the trajectory, and the sequence of events leading up to the TAG event. The paper also summarizes the Monte-Carlo simulation of the TAG sequence and presents analysis results that demonstrate the ability to conduct the TAG within 25 meters of the selected sample site and 2 cm/s of the targeted contact velocity. The paper describes some of the challenges associated with conducting precision navigation operations and ultimately contacting a very small asteroid.

Security Regolith Explorer

OSIRIS-REx Touch-And-Go (TAG) Mission Design and Analysis

The Origins Spectral Interpretation Resource Identification Security Regolith Explorer (OSIRIS-REx) mission is a NASA New Frontiers mission launching in 2016 to rendezvous with the near-Earth asteroid (101955) 1999 RQ36 in late 2018. After several months in formation with and orbit about the asteroid, OSIRIS-REx will fly a Touch-And-Go (TAG) trajectory to the asteroid s surface to obtain a regolith sample. This paper describes the mission design of the TAG sequence and the propulsive maneuvers required to achieve the trajectory. This paper also shows preliminary results of orbit covariance analysis and Monte-Carlo analysis that demonstrate the ability to arrive at a targeted location on the surface of RQ36 within a 25 meter radius with 98.3% confidence.

Berry, Kevin

Adaptation of G-TAG Software for Validating Touch-and-Go Comet Surface Sampling Design Methodology

The G-TAG software tool was developed under the R&TD on Integrated Autonomous Guidance, Navigation, and Control for Comet Sample Return, and represents a novel, multi-body dynamics simulation software tool for studying TAG sampling. The G-TAG multi-body simulation tool provides a simulation environment in which a Touch-and-Go (TAG) sampling event can be extensively tested. TAG sampling requires the spacecraft to descend to the surface, contact the surface with a sampling collection device, and then to ascend to a safe altitude. The TAG event lasts only a few seconds but is mission-critical with potentially high risk. Consequently, there is a need for the TAG event to be well characterized and studied by simulation and analysis in order for the proposal teams to converge on a reliable spacecraft design. This adaptation of the G-TAG tool was developed to support the Comet Odyssey proposal effort, and is specifically focused to address comet sample return missions. In this application, the spacecraft descends to and samples from the surface of a comet. Performance of the spacecraft during TAG is assessed based on survivability and sample collection performance. For the adaptation of the G-TAG simulation tool to comet scenarios, models are developed that accurately describe the properties of the spacecraft, approach trajectories, and descent velocities, as well as the models of the external forces and torques acting on the spacecraft. The adapted models of the spacecraft, descent profiles, and external sampling forces/torques were more sophisticated and customized for comets than those available in the basic G-TAG simulation tool. Scenarios implemented include the study of variations in requirements, spacecraft design (size, locations, etc. of the spacecraft components), and the environment (surface properties, slope, disturbances, etc.). The simulations, along with their visual representations using G-View, contributed to the Comet Odyssey New Frontiers proposal effort by indicating problems and/or benefits of different approaches and designs.

Mandic, Milan

Revisiting OSIRIS-REx Touch-And-Go (TAG) Performance Given the Realities of Asteroid Bennu

The Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) mission is a NASA New Frontiers mission that launched in 2016 and rendezvoused with the near-Earth asteroid (101955) Bennu in late 2018. Upon arrival, the surface of Bennu was found to be much rockier than expected. The original Touch-and-Go (TAG) requirement for sample collection was to deliver the spacecraft to a site with a 25-meter radius; however, the largest hazard-free sites are no larger than 8 meters in radius. To accommodate the dearth of safe sample collection sites, the project reevaluated all aspects of flight system performance pertaining to TAG in order to account for the demonstrated performance of the spacecraft and navigation prediction accuracies. More-over, the project has base lined on board natural feature tracking instead of lidar for providing the on board navigation state update during the TAG sequence. This paper summarizes the improvements in error source estimation, enhancements in on board trajectory correction, and results of recent Monte Carlo simulation to en-able sample collection with the given constraints. TAG delivery and on board navigation performance are presented for the final four candidate TAG sites.

Berry, Kevin

OSIRIS-REx Touch-And-Go (TAG) Navigation Performance

The Origins Spectral Interpretation Resource identification Security Regolith Explorer (OSIRIS-REx) mission is a NASA New Frontiers mission launching in 2016 to rendezvous with the near-Earth asteroid (101955) Bennu in late 2018. Following an extensive campaign of proximity operations activities to characterize the properties of Bennu and select a suitable sample site, OSIRIES-REx will fly a Touch-And-Go (TAG) trajectory to the asteroid's surface to obtain a regolith sample. The paper summarizes the mission design of the TAG sequence, the propulsive required to achieve the trajectory, and the sequence of events leading up to the TAG event. The paper will summarize the Monte-Carlo simulation of the TAG sequence and present analysis results that demonstrate the ability to conduct the TAG within 25 meters of the selected sample site and +-2 cms of the targeted contact velocity. The paper will describe some of the challenges associated with conducting precision navigation operations and ultimately contacting a very small asteroid.

Spectral

The OSIRIS-REx Spacecraft and the Touch-and-Go Sample Acquisition Mechanism (TAGSAM)

The Origins, Spectral-Interpretation, Resource-Identification, Security and Regolith- Explorer (OSIRIS-REx) spacecraft supports all aspects of the mission science objectives, from extensive remote sensing at the asteroid Bennu, to sample collection and return to Earth. In general, the success of planetary missions requires the collection, return, and analysis of data, which in turn depends on the successful operation of instruments and the host spacecraft. In the case of OSIRIS-REx, a sample-return mission, the spacecraft must also support the acquisition, safe stowage, and return of the sample. The target asteroid is Bennu, a B-class near-Earth asteroid roughly 500 m diameter. The Lockheed Martin-designed and developed OSIRIS-REx spacecraft draws significant heritage from previous missions and features the Touch-and-Go-Sample-Acquisition-Mechanism, or TAGSAM, to collect sample from the surface of Bennu. Lockheed Martin developed TAGSAM as a novel, simple way to collect samples on planetary bodies. During short contact with the asteroid surface, TAGSAM releases curation-grade nitrogen gas, mobilizing the surface regolith into a collection chamber. The contact surface of TAGSAM includes "contact pads", which are present to collect surface grains that have been subject to space weathering. Extensive 1-g laboratory testing, "reduced-gravity" testing (via parabolic flights on an airplane), and analysis demonstrate that TAGSAM will collect asteroid material in nominal conditions, and a variety of off-nominal conditions, such as the presence of large obstacles under the TAGSAM sampling head, or failure in the sampling gas firing. TAGSAM, and the spacecraft support of the instruments, are central to the success of the mission.

Spacecraft

OSIRIS-REx Proximity Operations and Navigation Performanceat (101955) Bennu

The NASA Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) spacecraft began close proximity operations at the small (500-m diameter) B-type asteroid (101955) Bennu in December 2018 and concluded in May 2021. Hundreds of grams of pristine surface regolith were collected on October 20, 2020, when the OSIRIS-REx spacecraft successfully executed the Touch and Go (TAG) sample collection sequence. The spacecraft touched down within 1 meter of the targeted site on the surface of Bennu. TAG was the culmination of over 2 years of navigation performance refinement as a result of extraordinary interagency teamwork between the Flight Dynamics System (FDS), science and spacecraft teams while in close proximity to Bennu. This paper will discuss the navigation processes, planning and performance during the proximity operations at Bennu.

Peter G. Antreasian

OSIRIS-REx Proximity Operations and Navigation Performance at (101955) Bennu

The NASA Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) spacecraft began close proximity operations at the small (500-mdiameter) B-type asteroid (101955) Bennu in December 2018 and concluded in May 2021.Hundreds of grams of pristine surface regolith were collected on October 20, 2020, when the OSIRIS-REx spacecraft successfully executed the Touch and Go (TAG) sample collection sequence. The spacecraft touched down within 1 meter of the targeted site on the surface of Bennu. TAG was the culmination of over 2 years of navigation performance refinement as a result of extraordinary interagency teamwork between the Flight Dynamics System (FDS),science and spacecraft teams while in close proximity to Bennu. This paper will discuss the navigation processes, planning and performance during the proximity operations at Bennu.

Peter G Antresian

Successful Use of Microporous Polytetrafluoroethylene Flexible Thin Sheets in NASA's OSIRIS-REx Mission

Microporous black polytetrafluoroethylene (PTFE) flexible thin sheets are successfully flown as solar diffusers on NASA's Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer (OSIRIS-REx) spacecraft. They serve as multilayer insulation (MLI) blanket outer covers for the arm of the Touch And Go Sample Acquisition Mechanism (TAGSAM), the sunshade of the OSIRIS-REx Camera Suite (OCAMS) PolyCam imager, and the motor riser of the OCAMS SamCam imager. Additionally, microporous white PTFE flexible thin sheets are successfully flown as a MLI blanket outer cover with a low ratio of absorptance to emittance for the Regolith X-ray Imaging Spectrometer (REXIS). For ground testing, microporous black and white PTFE flexible thin sheets were successfully used as optical targets of the Touch And Go Camera System (TAGCAMS) NavCam imagers in the flight system thermal vacuum test.

OSIRIS-REx