International Conference on Robotics and Automation, 2000
Planetary Aerobots are an innovative, new type of lightweight and low-cost telerobot, one which c... more Planetary Aerobots are an innovative, new type of lightweight and low-cost telerobot, one which can fly and navigate in a dynamic 3-dimensional atmospheric environment. JPL has recently discovered and demonstrated a balloon buoyancy control concept which is applicable to several planets. This altitude control concept employs phase change fluids such that. a planet's atmosphere is used as a giant heat engine to provide the mobility energy to ascend and decend at will. There are potential flight experiment opportunities as early as 1999 for Venus, 2001 for Mars and 2000-04 Titan. Telerobot ics technology enables the acquisition of surface and atmospheric science at multiple sil es designated by scientists and mission designers. There are challenging technical problems in vehicle mobility, on-board perception, and autonomous cent rol and navigation. Technology in these areas will be demonstrated in a series of gradually more ambitious terrestrial flights. There are also concurrent terrestrial applications to global climate and pollution studies as well as to autonomous ocean exploration.
The Mars Balloon Validation Program (MABVAP) was initiated in August 1997 to develop and validate... more The Mars Balloon Validation Program (MABVAP) was initiated in August 1997 to develop and validate key technologies needed for aerobot missions on Mars.
Within the Solar System, Venus presents a set of unique challenges to obtaining samples and retur... more Within the Solar System, Venus presents a set of unique challenges to obtaining samples and returning them to Earth. High temperatures, a thick corrosive atmosphere and poorly characterized terrain are some obvious examples. Our only knowledge of the surface and atmosphere is from Radar images and the data from Soviet probes. A point design now exists for a single launch mission to return Venusian samples massing about 1OOg. This paper discusses this mission, addressing the science return, how some of Venus' attributes can be used to advantage and what technologies will be needed to make this mission a reality. It also explores possible future directions to make the mission more affordable.
Lighter-than-air planetary missions continued attract growing interest in Mars exploration due to... more Lighter-than-air planetary missions continued attract growing interest in Mars exploration due to unique combination of proximity to the surface and mobility that far surpasses capability of surface vehicles. Following the experience with the Sojourner rover and subsequent development of powerful rovers for Mars 2003 and 2005 missions it became clear that on Mars surface rover mobility is quite restricted. Realistic travel distances may be limited to tens of kilometers per year on relatively obstacle-free plains and a few kilometers or less on the more rugged terrains. Many areas on Mars will be inaccessible to rovers. Several concepts for a Mars aerobot (robotic balloon) mission have been pursued in the last decade. Additional information is contained in the original extended abstract.
ABSTRACT During the past two years, a new solar system exploration roadmap has been developed, su... more ABSTRACT During the past two years, a new solar system exploration roadmap has been developed, supplanting the previous 2003 version. This roadmap identifies a number of high priority technology developments that will be essential to the success of several of the roadmap missions. These technologies include advanced radioisotope power systems (RPS), aerocapture systems and advanced propulsion, numerous technologies capable of surviving the extreme environments encountered in many of these missions, and improved capabilities for both forward and back planetary protection. These key technologies and the missions that require them are described, along with the estimated timeline for their development as laid out in the exploration roadmap.
Planetary aerobots are a new type of telerobotic science platform that can fly and navigate in a ... more Planetary aerobots are a new type of telerobotic science platform that can fly and navigate in a dynamic 3-dimensional atmospheric environment, thus enabling the global in situ exploration of planetary atmospheres and surfaces. Aerobots are enabled by a new concept in planetary balloon altitude control, developed at JPL, which employs reversible-fluid changes to permit repeated excursions in altitude. The essential
Robotic exploration of surface of Venus presents many challenges because of the thick atmosphere,... more Robotic exploration of surface of Venus presents many challenges because of the thick atmosphere, high surface pressure and high temperature. The Venus Aerobot Multisonde Mission (VAMuS) concept addresses these challenges by using a robotic balloon or aerobot to deploy a number of short lifetime probes or sondes to acquire images of the surface, perform atmospheric measurements and measure a fine
As the planet's principal cold traps, the martian polar regions have accumulated extensive mantle... more As the planet's principal cold traps, the martian polar regions have accumulated extensive mantles of ice and dust that cover individual areas of ∼10 6 km 2 and total as much as 3-4 km thick. From the scarcity of superposed craters on their surface, these layered deposits are thought to be comparatively young-preserving a record of the seasonal and climatic cycling of atmospheric CO 2 , H 2 O, and dust over the past ∼10 5 -10 8 years. For this reason, the martian polar deposits may serve as a Rosetta Stone for understanding the geologic and climatic history of the planet-documenting variations in insolation (due to quasiperiodic oscillations in the planet's obliquity and orbital elements), volatile mass balance, atmospheric composition, dust storm activity, volcanic eruptions, large impacts, catastrophic floods, solar luminosity, supernovae, and perhaps even a record of microbial life. Beyond their scientific value, the polar regions may soon prove important for another reason-providing a valuable and accessible reservoir of water to support the long-term human exploration of Mars. In this paper we assess the current state of Mars polar research, identify the key questions that motivate the exploration of the polar regions, discuss the extent to which current missions will address these questions, and speculate about what additional capabilities and investigations may be required to address the issues that remain outstanding. FIG. 1. (a) Color mosaic digital image map (polar projection) of the north polar deposits (Vistitas Borealis) showing the ground track of the MOLA topographic profile in (b) (USGS CD-ROM VO 2001). The most notable features of the deposits are the white perennial ice cap (which overlies several kilometers of layered terrain), the dark troughs that spiral outward from the pole, several large erosional reentrants along the periphery of the deposits (the largest of which, Chasma Boreale, nearly bisects the perennial ice cap), and the polar erg-a dark band of dunes that encircle the cap. (b) MOLA topographic profile of the north polar cap obtained on MGS Pass 404 (Zuber et al. 1998). The ground track of the profile crosses directly over the north pole and provides a measure of the height of the northern ice cap above the surrounding plains. The MGS spacecraft was pointing about 50 • off-nadir for this profile (provided by MOLA Science Team).
The planets Mars and Venus, and Saturn's moon Titan all possess sufficiently dense atmospher... more The planets Mars and Venus, and Saturn's moon Titan all possess sufficiently dense atmospheres for exploration with lighter than air (LTA) vehicles, capable of long duration scientific investigations. After a long hiatus since the first use of balloons in planetary exploration - ...
Robotic aerovehicles, or aerobots, can perform long duration detailed studies of planetary surfac... more Robotic aerovehicles, or aerobots, can perform long duration detailed studies of planetary surfaces and atmospheres in three dimensions. Here we explore specific abilities of an aerobot mission to Venus using two concept missions: the Balloon Experiment at Venus (BEV) and the Venus Flyer Robot (VFR). Oscillating between 40 and 60 km altitude, the BEV is designed to collect atmospheric data over a nominal lifetime of weeks as well as image the surface. The VFR, with its ability to descend to the surface, can collect cm-m scale visible and near-infrared images of the surface, collect compositional and dynamical data of the lower atmosphere, and measure the composition of the Venus surface with a snake-mounted detector. These concept missions are used to calculate sample aerobot trajectories and descent scenarios which utilize variations in wind speed, altitude and surface slopes to maximize data collection. The trajectories are applied to two example geotraverses across Atla Regio and Ovda Regio. Data collected at these or similar targets by an aerobot can address several unresolved questions about Venus such as the nature of the lower atmosphere and atmosphere-surface interactions and the presence or absence of continental crust.
The purpose of this white paper is to provide an overview to the NRC Decadal Survey Inner Planets... more The purpose of this white paper is to provide an overview to the NRC Decadal Survey Inner Planets Sub-Panel on key technologies required for future Venus exploration missions. It covers both heritage technologies and identifies new technologies to enable future missions in all three mission classes. The technologies will focus on mission enabling and enhancing capabilities for in situ missions, because most orbiter related sub-systems are considered heritage technologies. This white paper draws heavily on the recently completed Venus Flagship Mission study that identified key technologies required to implement its Design Reference Mission and other important mission options. The highest priority technologies and capabilities for the Venus Flagship Design Reference mission consist of: surface sample acquisition and handling; mechanical implementation of a rotating pressure vessel; a rugged-terrain landing system; and a large scale environmental test chamber to test these technologies under relevant Venus-like conditions. Other longer-term Venus Flagship Mission options will require additional new capabilities, namely a Venus-specific Radioisotope Power System; active refrigeration, high temperature electronics and advanced thermal insulation. The white paper will also argue for a technology development program, since without it future Venus missions might not be achievable.
International Conference on Robotics and Automation, 2000
Planetary Aerobots are an innovative, new type of lightweight and low-cost telerobot, one which c... more Planetary Aerobots are an innovative, new type of lightweight and low-cost telerobot, one which can fly and navigate in a dynamic 3-dimensional atmospheric environment. JPL has recently discovered and demonstrated a balloon buoyancy control concept which is applicable to several planets. This altitude control concept employs phase change fluids such that. a planet's atmosphere is used as a giant heat engine to provide the mobility energy to ascend and decend at will. There are potential flight experiment opportunities as early as 1999 for Venus, 2001 for Mars and 2000-04 Titan. Telerobot ics technology enables the acquisition of surface and atmospheric science at multiple sil es designated by scientists and mission designers. There are challenging technical problems in vehicle mobility, on-board perception, and autonomous cent rol and navigation. Technology in these areas will be demonstrated in a series of gradually more ambitious terrestrial flights. There are also concurrent terrestrial applications to global climate and pollution studies as well as to autonomous ocean exploration.
The Mars Balloon Validation Program (MABVAP) was initiated in August 1997 to develop and validate... more The Mars Balloon Validation Program (MABVAP) was initiated in August 1997 to develop and validate key technologies needed for aerobot missions on Mars.
Within the Solar System, Venus presents a set of unique challenges to obtaining samples and retur... more Within the Solar System, Venus presents a set of unique challenges to obtaining samples and returning them to Earth. High temperatures, a thick corrosive atmosphere and poorly characterized terrain are some obvious examples. Our only knowledge of the surface and atmosphere is from Radar images and the data from Soviet probes. A point design now exists for a single launch mission to return Venusian samples massing about 1OOg. This paper discusses this mission, addressing the science return, how some of Venus' attributes can be used to advantage and what technologies will be needed to make this mission a reality. It also explores possible future directions to make the mission more affordable.
Lighter-than-air planetary missions continued attract growing interest in Mars exploration due to... more Lighter-than-air planetary missions continued attract growing interest in Mars exploration due to unique combination of proximity to the surface and mobility that far surpasses capability of surface vehicles. Following the experience with the Sojourner rover and subsequent development of powerful rovers for Mars 2003 and 2005 missions it became clear that on Mars surface rover mobility is quite restricted. Realistic travel distances may be limited to tens of kilometers per year on relatively obstacle-free plains and a few kilometers or less on the more rugged terrains. Many areas on Mars will be inaccessible to rovers. Several concepts for a Mars aerobot (robotic balloon) mission have been pursued in the last decade. Additional information is contained in the original extended abstract.
ABSTRACT During the past two years, a new solar system exploration roadmap has been developed, su... more ABSTRACT During the past two years, a new solar system exploration roadmap has been developed, supplanting the previous 2003 version. This roadmap identifies a number of high priority technology developments that will be essential to the success of several of the roadmap missions. These technologies include advanced radioisotope power systems (RPS), aerocapture systems and advanced propulsion, numerous technologies capable of surviving the extreme environments encountered in many of these missions, and improved capabilities for both forward and back planetary protection. These key technologies and the missions that require them are described, along with the estimated timeline for their development as laid out in the exploration roadmap.
Planetary aerobots are a new type of telerobotic science platform that can fly and navigate in a ... more Planetary aerobots are a new type of telerobotic science platform that can fly and navigate in a dynamic 3-dimensional atmospheric environment, thus enabling the global in situ exploration of planetary atmospheres and surfaces. Aerobots are enabled by a new concept in planetary balloon altitude control, developed at JPL, which employs reversible-fluid changes to permit repeated excursions in altitude. The essential
Robotic exploration of surface of Venus presents many challenges because of the thick atmosphere,... more Robotic exploration of surface of Venus presents many challenges because of the thick atmosphere, high surface pressure and high temperature. The Venus Aerobot Multisonde Mission (VAMuS) concept addresses these challenges by using a robotic balloon or aerobot to deploy a number of short lifetime probes or sondes to acquire images of the surface, perform atmospheric measurements and measure a fine
As the planet's principal cold traps, the martian polar regions have accumulated extensive mantle... more As the planet's principal cold traps, the martian polar regions have accumulated extensive mantles of ice and dust that cover individual areas of ∼10 6 km 2 and total as much as 3-4 km thick. From the scarcity of superposed craters on their surface, these layered deposits are thought to be comparatively young-preserving a record of the seasonal and climatic cycling of atmospheric CO 2 , H 2 O, and dust over the past ∼10 5 -10 8 years. For this reason, the martian polar deposits may serve as a Rosetta Stone for understanding the geologic and climatic history of the planet-documenting variations in insolation (due to quasiperiodic oscillations in the planet's obliquity and orbital elements), volatile mass balance, atmospheric composition, dust storm activity, volcanic eruptions, large impacts, catastrophic floods, solar luminosity, supernovae, and perhaps even a record of microbial life. Beyond their scientific value, the polar regions may soon prove important for another reason-providing a valuable and accessible reservoir of water to support the long-term human exploration of Mars. In this paper we assess the current state of Mars polar research, identify the key questions that motivate the exploration of the polar regions, discuss the extent to which current missions will address these questions, and speculate about what additional capabilities and investigations may be required to address the issues that remain outstanding. FIG. 1. (a) Color mosaic digital image map (polar projection) of the north polar deposits (Vistitas Borealis) showing the ground track of the MOLA topographic profile in (b) (USGS CD-ROM VO 2001). The most notable features of the deposits are the white perennial ice cap (which overlies several kilometers of layered terrain), the dark troughs that spiral outward from the pole, several large erosional reentrants along the periphery of the deposits (the largest of which, Chasma Boreale, nearly bisects the perennial ice cap), and the polar erg-a dark band of dunes that encircle the cap. (b) MOLA topographic profile of the north polar cap obtained on MGS Pass 404 (Zuber et al. 1998). The ground track of the profile crosses directly over the north pole and provides a measure of the height of the northern ice cap above the surrounding plains. The MGS spacecraft was pointing about 50 • off-nadir for this profile (provided by MOLA Science Team).
The planets Mars and Venus, and Saturn's moon Titan all possess sufficiently dense atmospher... more The planets Mars and Venus, and Saturn's moon Titan all possess sufficiently dense atmospheres for exploration with lighter than air (LTA) vehicles, capable of long duration scientific investigations. After a long hiatus since the first use of balloons in planetary exploration - ...
Robotic aerovehicles, or aerobots, can perform long duration detailed studies of planetary surfac... more Robotic aerovehicles, or aerobots, can perform long duration detailed studies of planetary surfaces and atmospheres in three dimensions. Here we explore specific abilities of an aerobot mission to Venus using two concept missions: the Balloon Experiment at Venus (BEV) and the Venus Flyer Robot (VFR). Oscillating between 40 and 60 km altitude, the BEV is designed to collect atmospheric data over a nominal lifetime of weeks as well as image the surface. The VFR, with its ability to descend to the surface, can collect cm-m scale visible and near-infrared images of the surface, collect compositional and dynamical data of the lower atmosphere, and measure the composition of the Venus surface with a snake-mounted detector. These concept missions are used to calculate sample aerobot trajectories and descent scenarios which utilize variations in wind speed, altitude and surface slopes to maximize data collection. The trajectories are applied to two example geotraverses across Atla Regio and Ovda Regio. Data collected at these or similar targets by an aerobot can address several unresolved questions about Venus such as the nature of the lower atmosphere and atmosphere-surface interactions and the presence or absence of continental crust.
The purpose of this white paper is to provide an overview to the NRC Decadal Survey Inner Planets... more The purpose of this white paper is to provide an overview to the NRC Decadal Survey Inner Planets Sub-Panel on key technologies required for future Venus exploration missions. It covers both heritage technologies and identifies new technologies to enable future missions in all three mission classes. The technologies will focus on mission enabling and enhancing capabilities for in situ missions, because most orbiter related sub-systems are considered heritage technologies. This white paper draws heavily on the recently completed Venus Flagship Mission study that identified key technologies required to implement its Design Reference Mission and other important mission options. The highest priority technologies and capabilities for the Venus Flagship Design Reference mission consist of: surface sample acquisition and handling; mechanical implementation of a rotating pressure vessel; a rugged-terrain landing system; and a large scale environmental test chamber to test these technologies under relevant Venus-like conditions. Other longer-term Venus Flagship Mission options will require additional new capabilities, namely a Venus-specific Radioisotope Power System; active refrigeration, high temperature electronics and advanced thermal insulation. The white paper will also argue for a technology development program, since without it future Venus missions might not be achievable.
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