Jet Propulsion Laboratory (JPL), USA, Brent.Sherwood@Jpl.Nasa.Gov

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PLANETARY CUBESATS COME OF AGE

Brent Sherwood Caltech/Jet Propulsion Laboratory (JPL), USA, Brent.Sherwood@jpl.nasa.gov

Sara Spangelo *, Andreas Frick †, Julie Castillo -Rogez ‡, Andrew Klesh §, E. Jay Wyatt ** , Kim Reh †† , John Baker ‡‡

Jet Propulsion Laboratory initiatives in developing and formulating planetary CubeSats are described. Six flight systems already complete or underway now at JPL for missions to interplanetary space, the Moon, a near -Earth asteroid, and Mars are described a t the subsystem level. Key differences between interplanetary nanospacecraft and LEO CubeSats are explained, as well as JPL’s adaptation of vendor components and development of system solutions to meet planetary -mission needs. Feasible technology -demonstra tion and science measurement objectives are described for multiple modes of planetary mission implementation. Seven planetary -science demonstration mission concepts , already proposed to NASA by Discovery -2014 PIs partnered with JPL, are described for inves tigations at Sun -Earth L5, Venus, NEA 1999 FG3, comet Tempel 2, Phobos, main -belt asteroid 24 Themis, and metal asteroid 16 Psyche. The JPL staff and facilities resources available to PIs for analysis, design, and development of planetary nanospacecraft ar e catalogued. I. INTRODUCTION NEAScout (Phase B). Together this set establishes a In 2014 –15 three CubeSat -related developments by critical benchmark for future planetary CubeSats, to JPL (Jet Propulsion Laboratory) and its partners anchor and validate concepts and cost estimates. significantly boosted the feasibility, utility, and practicality of extending the “CubeSat revolution” to the INSPIRE : system, technology, project status planets. JPL comp leted INSPIRE , the world’s first two The dual INSPIRE spacecraft (Interplanetary interplanetary CubeSats; entered Phase C/D on two 2 nd - NanoSpacecraft Pathfinder In Relevant Environment) generation planetary CubeSats for a mission to Mars; are the world’s first interplanetary CubeSats (although, entered Phase B with MSFC (NASA Marshall Space indicat ive of the fast -evolving nature of the CubeSat Flight Center) on CubeSats for missions to the Moon field, their launch opportunity will likely follow that of and a near -Ea rth asteroid; and proposed into the MarCO ; see below). Intended for direct injection into Discovery Program a portfolio of seven nanospacecraft Earth -escape, heliocentric orbit on a dedicated concepts that would demonstrate technologies and interplanetary mission, they were delivered to l aunch perform science at destinations from Venus to the outer readiness in June 2014 (Figure 1). reaches of the Main Asteroid Belt. INSPIRE has three demonstration objectives: From these development and formulation activities, 1) CubeSat operation, communication, and navigation a credible intersection of purpose, performance, risk, far from Earth; 2) deep -space flight of key CubeSat and cost is now emerging, appropriate for planetary hardware components, thereby bringing them to TRL 9 science using nanospacecraft. This experience -based (technology re adiness level); and 3) delivery of useful “set point” contrasts in important ways with community science by interplanetary CubeSats. These pathfinder expectations calibrated by Earth -orbiting CubeSats. objectives directly reduce risk for investigators aiming

II. STATE OF PRACTIC E This section describes six CubeSat -based interplanetary flight systems currently in the flight - project implementation pipeline: the INSPIRE pair already delivered (Phase D), the MarCO pair (Phase C/D), Lunar Flashlight (Phase B), and

* Caltech/JPL, USA, [email protected] † Caltech/JPL, USA, [email protected] ‡ Caltech/JPL, USA, [email protected] § Caltech/JPL, USA, [email protected] ** Caltech/JPL, USA, [email protected] v Fig. 1: INSPIRE , the first two interplanetary CubeSats, †† Caltech/JPL, USA, [email protected] were completed on budget and on schedule in June ‡‡ Caltech/JPL, USA, [email protected] 2014.

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66 th International Astronautical Congress, Jerusalem, Israel. Copyright ©2015 by the International Astronautical Federation . All rights reserved. trackers and reaction wheels; MMA solar arrays; clearance, component installation, and cabling issues VACCO propulsion subsystem; and other U -class caused by highly constrained U -class volume. components tested by the project for use in deep space. • There is no substitute for tacit know ledge gained by It is propelled by an 80 -m2 solar sail. JPL provides the a team, and facilities tailored for product scienc e-grade camera. development. JPL built a dedicated CubeSat Development Laboratory, staffed it with a cadre of Lessons learned nanospacecraft experts who carry lessons Experience gained from these first six planetary immediately into subsequent projects, and developed nanospacecraft developments has already informed the relations hips with U -class component providers to next generation of U -class concepts JPL has proposed to adapt their products for stretch applications. NASA (described below). Technical differences are detailed in the next section, but a few project -level III. CONTRASTS BETWE EN EARTH -ORBITING findings are: AND PLANETARY APPLIC ATIONS • Planetary environments are more diverse than Earth - The small -spacecraft community has considerable orbiting environments. Combined with the rarity of experience operating CubeSats in LEO, and has planetary launch opportunities, this inevitably successf ully overcome many operating challenges posed increases expectations for success for by that environment. For example, ground -antenna gain nanospacecra ft, shifting the balance from rapid, can compensate for limited onboard antenna gain and frugal “sub -Class D” development more toward radio power; and CubeSats can manage limitations of experience -based space flight project practices. A power generation and thermal dissipation by duty - hybrid approach is essential. cyc ling high -power components. • Small size and rapid development alone do not avoid However, small spacecraft operating in deep space typical integration challenges, and in fact may face considerably greater challenges (Table 1). For exacerbate them. 3D printing is a useful prototyping nanospacecraft, some of these challenges simply limit technique for fit -checking, identifying, and resolving mission capabilities, while others can be overcome with

Challenges Area (Relative to Earth -orbiting CubeSats) Solutions Power • Diminishing solar power beyond 1 AU • Low -power modes and duty cycling • Potentially greater power consumption from • Large deployable solar arrays telecom and thermal subsystems • Greater energy storage capacity Telecom • DTE telecom at long range with small • On -board data compression apertures and low power, including tracking • High -power S -Band, X-Band, and Ka -Band transponders • Mother -daughter architecture requires for DTE and navigation cooperative primary mission • Low -power UHF or S -Band relay to mothership (optionally integrated with dispenser avionics package) • Deployable antennas, e.g., reflectarray • Disruption -tolerant networking (DTN) Propulsion & • Mass, Volume, and Power constraints for • Off -the -shelf, integrated ACS packages Attitude Control reaction wheels, star trackers and sun sensors • Small cold -gas thrusters for reaction wheel desaturations • Reaction -wheel desaturation (outside and propulsion geomagnetic field) • Non -combustible gas with low pressure at launch • Limited volume and power for propulsion temperatures • Secondary payload safety with combustible • Miniaturized electric propulsion systems (in development) and/or pressur ized propellants Autonom y Must operate without immediate link for long • Onboard autonomous operations with capable processor durations, including navigation and guidance • Affordable, small cameras (e.g., asteroid flyby or impactor) and data triage • Terrain -relative navigation (TRN) • Agile -science algorithms (ASA) Mission Duration Long -duration cruise in deep space • Shielded avionics compartments • Radiation -tolerant avionics with watchdog reset • Short operating life for missions in difficult environments Mechanical & Thermal • Dissipating avionics/transponder heat with • Thermal modeling and testing, including thermal duty small radiator surfaces cycling • Providing replacement heat in low -power • Area allocation for radi ator and MLI surfaces modes at large solar distances • Modular architectures to facilitate integration • Sufficient area for harnesses and fasteners Mission Potential risks to primary mission (for secondary Standard non -interference deep -space dispenser with spacecraft) integrated avionics & telecom interface, replacement heat, inhibits, and well characterized tip -off rates Table 1: Deep -space nanospacecraft face multiple, unique operating challenges.

IAC -15,A3,5,8,x30103 Page 4 of 14 66 th International Astronautical Congress, Jerusalem, Israel. Copyright ©2015 by the International Astronautical Federation . All rights reserved. architectural solutions that depart from LEO CubeSats. opportunity. Planetary mission opportunities are For example, limited capacity for power, attitude traditionally characterized by slow cadence. Acceptance control, orbit control, and non -benign planetary of nanospacecraft o nto primary missions could environments simply do and will continue to impose eventually convert all US, European, Japanese, Indian, operational or lifetime constraints. By contrast, Russian, and Chinese planetary missions into telecommunication and autonomy challenges can be opportunities for deep -space nanospacecraft, either for retired, respectively, by using mother -daughter relay coordinated mother -daughter operations or simply for architectures and on -board algorithms for agile science ride -along deep -spac e deployment onto standalone - and optimal resource management. mode investigations. While deep -space and LEO environments differ in many ways, radiation and thermal considerations Opportunistic technology demonstration become top drivers of design differences for U -class Nanospacecraft offer unique opportunities to subsystems to function in interplanetary space. For demonstrate advanced technologies in deep space. example, radiation tolerance drives electronics “board Traditionally, a strong bias against infusing non - real estate” and can exacerbate power demand. And in heritage (i.e., high c ost -risk) capabilities on cost - volume -restricted U -class configurations, even MLI constrained planetary missions means that technologies (multi -layer insulation) thickness can conflict with are forced to fight their way onto missions from a basis solar -array area; early modeling is essential to allocate of only TRL 5, and then undergo significant verification sufficient space for radiators and MLI. Future designs challenges to attain TRL 8 before launch. An increased ma y need to move beyond aluminum brackets for cadence of opportunities to demonstrate TRL 9 (i.e., conduction, to techniques like wedge locks, heat pipes, performance in the intended operating environment) and even 3D -printed fluid loops. with non -critical operations could be transformational In designs packed with complex functionality (e.g., for the infusion rate of advanced technologies, for both at 6U class), breaking the classical, modular CubeSat spacecraft subsystems and instruments. stack architectur e has turned out to be enabling in some Th e four nanospacecraft flight projects described cases. For example, MarCO uses a baseplate divided above will demonstrate a range of subsystem and into quadrants despite its 6U “outer mold line,” to instrument technologies in deep space: small UHF relay facilitate tool and testing access during integration. (on INSPIRE ); small, high -power Iris DSN transponder, compact reflectarray antenna, and U -class cold -gas IV. OBJECTIVES FOR P LANETARY TCM (on MarCO ); radiation -tolerant LEON processor APPLICATIONS (Lunar Flashlight and NEAScout ); CVHM instrument Deep -space na nospacecraft offer three strategic (INSPIRE ); and U -class IR point spectrometer advantages for planetary -mission investigators: 1) (Lunar Flashlight ). multiple mission modes, and thus increased opportunity A wealth of other technology advancements awaits cadence; 2) opportunistic technology demonstration; demonstration in planetary environments. and 3) opportunistic (high -risk and multi -vantage) science meas urements. Power Generation and Storage LEO -orbiting CubeSats have used a variety of solar - Multiple mission modes and increased cadence array configurations to package power -generation INSPIRE , MarCO , Lunar Flashlight , and NEAScout capacity into the U -class form factor for launch. As exemplify the “standalone” mission mode in which a mission applications become more ambitious farther nanospacecraft flies independently to a target from Earth, even more innovation is required for power destination and conducts a complete investigation there . generation, storage, and utilization duty cycling. Directly analogous to traditional planetary missions, this MarCO uses commercially available, deployable mode imposes tough requirements on nanospacecraft for solar arrays recently developed; even larger versions are longevity and independent operations. expected to become available soon. Beyond Mars The other (“mother -daughter architecture”) mission distance (~1.5 AU), and for some surface scenarios, mode confers powerful advantages on both parent solar power becomes impractical for small spacecraft. mis sion and nanospacecraft, because the nanospacecraft Although miniature radioisotope power systems (RPSs) mission itself only begins once already at the might be attractive in theory, it is impractical to expect investigation target, and the mother ship provides a it: nano -RPS would be an exotic, purpose -built power nearby operations node. sourc e with a “long tail” of DOE (Department of Beyond the diverse types of investigation that the Energy) infrastructure sustainment costs clearly mother -daughter mode can sup port, the mere benefit of antithetical to the original low -cost premise of deep - carriage to deep -space destinations means that every space nanospacecraft. planetary mission affords a potential nanospacecraft

JPL has already proposed several planetary daughter JPL and others are also developing several advanced nanospacecraft based on conventiona l primary batteries; propulsion technologies for U -class planetary and is developing hybrid power -storage solutions based applications, including lightsails (as on NEAScout ), on secondary batteries and super -capacitors for electric propulsion, 4-6 and chemical propulsion based on demanding U -class applications with ultra -low bot h hydrazine and green propellants. temperature and high -pulse -power loads. 1 Autonomous Systems and Avionics Operations complexity does not necessarily scale Telecommunication Technologies down with spacecraft size. For planetary There are tw o telecommunication challenges for nanospacecraft, economy therefore depends on planetary nanospacecraft: DTE links for the standalone operating with a high degree of autonomy to limit cost ly mode; and inter -spacecraft relays for the mother - burdens on mothership, ground systems, or ground daughter mode or for swarm deployments. crews. The need for autonomy is also driven by the Transmitting significant amounts of data over agility required for close -proximity interaction with interplanetary distances is al ways aperture -limited and targets, and rapid response to serendipitous discoveries. power -limited. For small spacecraft these challenges are JPL has extensively proposed nanospacecra ft amplified by the thermal challenge discussed above: autonomous guidance and navigation; semi -autonomous limited radiator area for dissipating heat from high - localization in space via accurate imaging of reference power loads. JPL’s X -band Iris transponder (on planets, asteroids, and surface features of small INSPIRE ) enables nano spacecraft to communicate using planetary bodies; and agile science algorithms (ASA) the DSN. And the higher -power solid -state amplifier for science -feature recognition and priori tization. and reflectarray antenna (on MarCO ) increases effective ASA software modules enhance science return via gain despite packaging compatible with a CubeSat onboard event detection and response: automated dispenser. instrument operations, feature detection, and/or These missions also demonstrate two UHF relay automated planning and scheduling. Automated designs; in particular, MarCO demonstrates a instrument operations include adjusting camera deployable loop antenna that yields capability similar to exposure and sub -window settings to maximize image the Electra Proximity Payload radio standard for quality, and automatically adapting the rate of data surface -orbit links at Mars. JPL is developing several collection and transmission to capture transient U-class antennas including deployable Ka -band. 2, 3 phenomena at maximum data -acquisition cadence. Disruption -tolerant networking (DTN) enables Feature detection within an image or multi -spectral internet -like functionality on space missions where image cube ca n trigger additional observations by that communication disconnections or delays of more than a instrument or another (even if on a separate spacecraft); few seconds are routine. This type of networking and detect objects by examining multiple images, e.g., reduces the time required for downlink planning – and for automated asteroid search. Onboard planning and it s associated operations cost – by automating both scheduling include: 1) CPU and RAM throughput prioritized data downlink and automated re -transmission man agement to assure that event -triggered observations of partial products. It also facilitates the automated are possible; 2) geometry -aware planning to confirm communication required among assets for event that observations will occur when illumination and/or triggering, e.g., to image transient science even ts from stereo -mapping constraints are met; and 3) coordinated multiple perspectives or with complementary observation planning between spacecraft wit h different instruments on separate spacecraft. NASA has invested vantage points and complementary instruments. in DTN since 2007; it is being tested and operationally The IPEX (Intelligent Payload Experiment) CubeSat infused on the International Space Station, and was demonstrated ASA in LEO; NEAScout demonstrates demonstrated in deep space on EPOXI (Extra solar ASA in deep space by co -adding asteroid images to Planet Observation and Deep Impact Extended increase SNR of downlinked data; autonomously Investigation). JPL proposed DTN for the mother - adjus ting payload parameters (e.g., camera exposure daughter communication architecture of several time); and prioritizing downlink data to maximize Discovery nanospacecraft (see below). science return despite the limited data rate from deep space. Propulsion Technologies The first deep -space nanospacecraft rely on U -class EDL, In -Situ Access, and Surface Mobility cold -gas propulsion already demonstrated in LEO: a Daughter spacecraft can reach environments refrigerant, stored as a saturated liquid and pressurized inaccessib le to a mother spacecraft due to risk or other for expulsion through a set of nozzles. JPL has physical constraints, or that enable “second vantage partnered with providers to adapt this technolo gy for point” geometry for simultaneous, coordinated deep -space use on INSPIRE and MarCO . operations. Examples already proposed by JPL include

Typical Mars -mission cruise stages have significant excess mass capacity. With MarsDrop, one or more high -priority scientific targets could be reached on every Mars opportunity. Instruments Miniaturized instruments not only enable science investigations using small spacecraft (see below), they are also pathfinders for significantly increasing the payload capacity of large spacecraft. U -class examples under development by JPL include the IR point spectrometer and magnetometer already mentioned, plus an IR imaging spectrometer, intelligent camera, gamma - ray spectrometer, and mass spectrometer (Table 3).

Opportunistic science measurements Nanospacecraft can support measurements applicable to all planetary exploration disciplines. They can enable novel architectures and facilitate observational strategies that may be impractical or too risky for a primary mission or mothership.

Science Enablers

Fig. 5: Ma rsDrop , an Aerospace Corp. – JPL Some science objectives require distributed spatial collaboration, could land small instruments very and temporal sampling that cannot be ach ieved by a close to high -value targets, using excess mass monolithic system architecture. Examples include capacity on Mars -bound missions. diverse dynamic phenomena amenable to distributed networks (e.g., fields and particles, or volcanic activity); decelerators and probes for planetary atmospheres, and deep planetary -interior characterization requiring au tonomously guided close -flybys, impactors, and measurements at multiple sites (e. g., seismic landers. tomography); and investigations requiring highly Together with Stanford University, JPL has a NIAC separated receivers for source triangulation or stereo (NASA Innovative Advanced Concepts) Phase II study imaging. For such investigations, simultaneous to develop small platforms for autonomous microgravity measurements at complementary sites increase the 7 surface mobility. Capable of hosting low -cost robustness of measurement interpretation. instruments and potentially deployable in larger numbers, such momentum -actuated hoppers could High -Risk Measurements for High -Reward Science increase science return from exploring unstructured and A classic example would be using an expendable unmapped topography, without resorting to complex asset to obtain high -resolution data at a small body (e.g., landing or mobility technologies. spatial resolution or SNR) from an orbit altitude unsafe Together with the Aerospace Corp., JPL is also for a mothership. Other examples include: sco uting developing MarsDrop, a nanospacecraft to land ~1 kg ahead to assess risks for a mothership; reconnaissance instrument packages with tens -of -meters accuracy on for landing and sampling site selection; and bridging Mars (Figure 5). The entry vehicle is Aerospace’s imaging scales and vantage points between what REBR (ReEntry Breakup Recorder), a 30 -cm diameter orbiters and landers can do. The scouting function, system that has executed three successful ~9 -km/sec historically unavailable to planetary miss ions, could reentries from Earth orbit. At Mars, entry vel ocities offer significant planning and operations flexibility. It would range from ~3 –7 km/sec, depending on could also significantly mitigate mission costs, e.g., for deployment from orbit or with direct entry. The 3.5 -kg human exploration precursors. Multiple nano -scouts system has a low ballistic coefficient; a 3 -m subsonic could assess and return information to inform advanced parawing deployed 5 –10 km above the surface would planning (e.g., by so rting targets and providing high - steer to the target by lanyard actuation base d on video - resolution imaging at the scale of crew and robots). rate terrain -relative navigation. After impacting at up to ~20 m/sec, then deploying petals to right itself, the Alternative Low -Cost Architectures lander would deploy solar panels and a UHF antenna Multi -site observations by small satellites may be a capable of 1 -MB/day uplink. Batteries charged during useful way to increase coverage of planetary -science each sol would enable night -time quiescent survival. targets at low cost compared to large observatories; and

Fig. 6: Cupid’s Arrow would measure long -sought noble -gas isotope ratios upon aeropass at Venus, deployed during aerobraking phase of parent mission. for targeting multiple objects within a system (e.g., Noble -gas mass spectrometry of the well -mixed NEA or giant -planet systems), even potentially by Venus atmosphere (below the homopause), upon tailoring sibling nanospacecraft to characteristics of aeropass after apoapsis release by the mothership during various targets. Some planetary investigations may be aerobraking (Figure 6). Determining the isotopic ratios amenable to a fractionated payload architecture (a large for noble gases in Venus’ atmosphere is a key obj ective payload subdivided among multiple nanosats) whose prioritized by VEXAG (Venus Exploration Assessment individual elements are replaced over time either as Group) 12 , as a key to understanding Venus’ origin and needed or with higher -performance versions. as a critical puzzle piece for comparative planetology across habitable -zone planets. Breaking New Ground NASA SMD (Science Mission Directorate) missi ons Near -Earth Rubble -Pile Asteroid are science -driven, but their implementation – and thus Second -viewpoint and close -proximity imaging of their ambition – is strongly constrained by the balance microgravity -aggregate disruption experiments between heritage capabilities and the cost risk of performed by the mothership at the secondary of the developing new capabilities. Nanospacecraft can open 1996 FG3 binary asteroid system (Figure 7). Imaging paths to revolutionary architectures for achieving more blast plumes under multiple, complementary audacious science investigations in the future such as: illumination angles can help quantify ejecta volume, key planetary cave exploration 8; micro -g and milli -g to elucidating material cohesive strength. TRN in a low - laboratories for material -physics experiments to support gravity environment would be demonstrated, enabling planetary accretion modeling 9; large -scale search for close -proximity imaging of the post -disruption surface. methane sources on M ars 10 ; purely exploratory, discovery -driven surveys of uncharted regions like Sun - Jupiter -Family Comet Earth L4 and L5 (see below) or the solar system’s Controlled penetrometry of indurated cometary crust interstellar frontier 11 . to measure surface strength of comet Tempel 2 (Figure 8). This measure ment could resolve ambiguities V. JPL DISCOVERY 201 4 TDOS left by Rosetta ’s Philae lander, providing an important The Discovery 2014 AO (Announcement of constraint for formulating a future cryogenic comet Opportunity) invited TDOs (Tech nology Demonstration nucleus sample mission. TRN would enable dual Options) that could enable future investigations, penetrators, each with stereo imagers, to target specific enhance the science of the proposed mission, or both. sites identif ied by the mission science team. Via JPL’s proposal portfolio, seven PIs proposed nanospacecraft -based TDOs for implementation. One is Earth -Trojan Asteroids based on the standalone mode; the others proposed a Demonstration of nanospacecraft AutoNav mother -daughter architecture. Of those, three are in situ (asteroid -based autonomous navigation) to decrease investigations; the rest are flyby -orbiter investigations. operations and DSN costs for interplanetary Each has a unique set of demonstration and science nanospacecraft exploration. Released by a host mission objectives at a compelling destination in the solar at Sun -Earth L2, this standalone 6U spacecraft would system: use AutoNav to guide itself along the weak -stability boundary to SE -L5, where it could search for putative Ven us Earth Trojan asteroids (Figure 9). Such objects are

Fig. 7: ANTIX would perform AutoNav and hovering proximity operations at 1996 FG3’s secondary, witnessing a rubble -pile blast experiment up close. important tracers of solar -system dynamical evolutio n, 238P/Read. A daughter nanospacecraft with ASA and also potential resources for human -spaceflight enables rapid spectral -feature extraction upon fast ISRU. The detection investigation directly leverages flyby 14 , with prioritized downlink to the mothership of NEAScout ’s IntelliCam and concept of operations. spectral -cube excerpts that match expected ice features Phobos (Figure 11). Nanospacecraft soft lander demonstrates multiple technologies: cold -gas -controlled landing; boomless Outer Main -Be lt Metal Asteroid U-class gamma ray spectrometer; and NASA’s EDS Close -proximity magnetometry mapping of (electrodynamic dust shield) 13 (Figure 10). The mission 16 Psyche, complementary to global -scale magnetic makes high -SNR subsurface elemental composition field mapping by a mothership (Figure 12). The measurements of Mars’ largest moon and performs controlled experiments of dust behavior, a high -priority SKG for NASA’s humans -to -Mars goal.

Main -Belt Icy Asteroid Near infra -red (NIR) hyperspectral search for exposed surface deposits of water ice at 24 Themis, suspected parent of the mission’ s primary target,

Fi g. 8: Twin comet impactors would perform the “Crème Brûlée test” at comet Tempel 2 to resolve Fig. 9: Pytheas would independently navigate on a ambiguities about surface strength left by the Philae 1000 -day mission from Sun -Earth L2 to L5, to lander at C -G. conduct a search for Earth -Trojan asteroids.

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Table 2 summarizes salient subsystem parameters JPL has established a portal for all types of CubeSat for the TDO portfolio. A standard aluminum CubeSat support, including planetary nanospacecraft, at primary structure is used for most of the designs. Body - http://www.jpl.nasa.gov/cubesat/ . Tables 3 and 4 fixed or deployed solar arrays and batteries are sized summarize, respectively, the technical capabilities according to destination (i.e., distance from the Sun), (subsystems, instruments, and software) and support area/volume constraints, and power consumption capabilities (formulation and development services and requirements (with operations plans that cycle high - facilities) that JPL and its partners are using today to power components). help proposing PIs take advantage of the nanospacecraft Small orbital maneuvers ( ΔV < 100 m/s) and cost efficiencies and risk paradigm now applicable to reaction -wheel desaturations are done using VACCO planetary science. cold -gas systems. Attitude control is performed primarily with the Blue Canyon Technologies attitude - Subsystems control unit (star tracker, reaction wheels, inertial New computer, telecommunication, and data -storage measurement unit, control algorithms), or relevant componen ts are especially enabling. The new Sphinx components from it (reaction wheels or star trackers are computer is similar to the RAD750 but operates within omitted in some designs). the U -class architecture. U -class telecommunication For mother -daughter architectures, telecom - technologies, including the Iris transponder and high - munication using a small UHF radio and antenna gain, deployable ISARA reflectarray antenna, enable achieves data rates of 100 kbps or more, depending on navigation and telecommunication across interplanetary mothership capabilities and range. The standalone distances. implementation returns data directly to Earth using an Iris tr ansponder and high -gain antenna, by relaying only Instruments key data at considerably lower rates (<1 kbps). In addition to the CVHM which is ready for flight, JPL’s radiation -tolerant, miniaturized Sphinx C& DH JPL is developing eight instruments smaller than 2U board is at the heart of most of the designs. Sphinx uses (Table 3). Intentionally optimized for deep -space a dual -core, fault -tolerant LEON3 -FT (GR712) nanospacecraft (e.g., the IntelliCam science and OpNav processor that can run onboard algorithms for ASA, camera), these instruments also offer breakthrough mass DTN, and optimal resource planning. The LEON and cost benefits – as well as high performance – for architecture has been proven in space, and the Sphinx future primary missions. board will gain deep -space flight heritage on NEAScout and Lunar Flashlight . Software Legacy software (e.g., AMMOS and DTN), as well VI. JPL NANOSPACECRA FT CAPABILITIES as a novel suite of tools, will i ncreasingly improve FOR PLANETARY PI s onboard intelligence – and hence autonomy – to

Fig. 12: Nanospacecraft deployed at 16 Psyche would provide close -proximity imaging and magnetometry investigation of the solar system’s largest metal ast eroid.

IAC -15,A3,5,8,x30103 Page 11 of 14 66 th International Astronautical Congress, Jerusalem, Israel. Copyright ©2015 by the International Astronautical Federation . All rights reserved. constrain operations cost and enhance science return of toolset to enable rapid design, cost estimating, and trade resource -constrained missions. studies to help science and technology PIs quickly Operations services evaluate the potential implementation feasibility of Lifecycle nanospacecraft support services, from concepts. Building 189, now renovated into JPL’s early formulation through development, verification, institutional CubeSat Development Laboratory, is and operations, leverage legacy JPL tools and equipped for Phase D integration and test of capabilities (Table 4). This includes tailored nanospacecraft ( Figure 13). institutional processes with which mission -experienced experts balance the cost advantages of sub -Class -D payload development with the unique require ments and risk expectations of planetary missions.

Facilities Lifecycle facilities are already designed and staffed for the unique considerations of nanospacecraft development. Team Xc leverages the traditional Team X concurrent -engineering environment and Class Type Name Capability Heritage / Infusion Point of Contact Deep Space Sphinx 300 krad, 2 ×134 MIPS full duplex Infused via NEAScout , Lunar John Baker C&DH Flashlight

Transponder Iris -2 Tracking and Telecommunication Infused via MarCO Courtney Duncan beyond Earth orbit and distances > 1 AU Deep Space PDCS COTS deployer, LEON C&DH, P-POD heritage Peter Kahn

Subsystem Dispenser radio, antenna, power interface Nanospacecraft Nanospacecraft Deployable ISARA 100 Mbs, fits in 3U Infused via MarCO and ISARA Biren Shah Antenna Antenna Science and Intelli -Cam iFOV: 0.13 mrad, SNR = 5 at Infused via OCO -3 and Justin Boland OpNav Camera 50k km and H = 8 NEAScout Infrared imager SWIS 0.4 –1.65 µm uncooled, up to M3 heritage, proposed for Zakos Mouroulis 2.5 µm (cooled with micro - Discovery TDO cryostat) Point IR n/a Reflectance of three water bands, Infused via Lunar Flashlight Joseph Reiter Spectrometer passively cooled

Radiometer CHARM Microwave radiation from the Infused via RACE Boon Lim 183 -GHz water vapor line Sub -mm wave WISPER Oxygen isotope ratios for volatile JPL sub -mm spectrometer (e.g., Ken Cooper spectrometer formation thermometry MIRO) instrument heritage Ground SUPER High - and low -frequency design for JPL radar instrument heritage Yonggyu Gim Instruments Penetrating Radar probing 20 – 200 -m deep in small bodies UV Spectrometer UVS Reflectance imager in 100 – 250 M3 heritage Shouleh Nikzad and 250 – 600 -nm range

Gamma Ray GRS Ultra -bright SrI 2 scintillator, does Proposed for Discovery TDO T. Prettyman (PSI) Spectrometer not require boom deployment Vector Helium CVHM Measures magnetic field with Delivered to INSPIRE Neil Murphy, Magnetometer < 10 -pT stability Carol Raymond Agile Science ASA Automated gain setting, rapid EO -1 mission heritage; David Thompson, Algorithms feature extraction, downlink proposed for multiple Steve Chien prioritization, resource Discovery TDOs management, rapid re -planning Disruption DTN Architecture and software for Demonstrated on EPOXI , Jay Wyatt Tolerant Network networks with non -continuous proposed for multiple

connectivity Discovery TDOs Autonomous AutoNav Autonomous localization and Inherited from DS1 , Deep Shyam Bhaskaran Navigation trajectory replanning Impact ; proposed for Discovery TDO Software Primitive Body PBN Modeling of spacecraft dynamics in Proposed for multiple Steve Broschart Navigation Suite low -gravity environment and close Discovery TDOs proximity Lightweight Real Protos < 50 -kB footprint with CCSDS, Infused via INSPIRE and Thomas Werne Time Operating sequences, and robust fault MarCO . System protecttion. Portable into lightweight micro controllers. Table 3: JPL and partner nanospacecraft capabilities already support planetary -mission formulation by PIs.

Class Type Name Capability Heritage / Infusion Point of Contact Concurrent Team Xc End -to -end mission design and JPL Team X heritage Pez Zarifian Engineering systems engineering, costing

Navigation, AMMOS Telecom Forecaster Predictor JPL MOS heritage Kar -Ming Cheung Operations, Ground (TFP) Data System Tools Ground DSN Tracking and Telecommunications JPL MOS heritage Greg Welz Services Communications Data Pipeline MIPL Automated raw data processing for Heritage from many missions Janet Fung archiving (e.g., InSight ) CubeSat CubeSat Implementation maker -space for Operational Feb 2015 Pamela Clark Implementation Developmen clean and near -clean development t Laboratory Attitude Control SmallSat Hardware -in -the -loop testing & Operational Aug 2015 Laura Jones, Swathi Dynamics software development. Planar & Mohan testbed Spherical Air Bearings. SmallSat - centric ACS simulation.

Facilities Camera/Intelligent IntelliCam Camera calibration combined with Available in 2016 Justin Boland, David Software Testbed Testbed Agile Science testbed Thompson Environmental Testing ETL Vibration, acoustic, shock, thermal, Used on multiple CubeSat Shannon Statham and thermal -vac testing for broad systems and subsystems sizes and shapes Table 4: Dedicated nanospacecraft services and facilities support JPL planetary nanospacecraft PIs. Fig. 13: CubeSat Development Laboratory now IX. ACRONYMS occupies JPL Building 189. 3D Three -Dimensional VII. CONCLUSION AES Advanced Exploration Systems Using four flight projects – INSPIRE , MarCO , AO Announcement of Opportunity NEAScout , and Lunar Flashlight – JPL is progressively ASA Agile -Science Algorithms establishing a seven -part foundation to help planetary - C&DH Command and Data Handling science PIs credibly formulate and propose COTS Commercial Off -the -Shelf nanospacecraft -enabled investigations, particularly CPU Central Processing Unit within the context of cost -constrained primary missions: CVHM Compact Vector -Helium Magnetometer 1) a rapid approach to science scoping compatible with DOE Department of Energy nanospacecraft resources; 2) a cadre of space systems DSN Deep -Space Network engineers and s cientists experienced in working with DTE Direct -to -Earth CubeSat component partners and vendors to adapt their DTN Disruption -Tolerant Networking products for deep -space use, and who are also EDL Entry, Descent, and Landing experienced in delivering interplanetary nanospacecraft EDS Electrodynamic Dust Shield flight systems; 3) subsystem enhancements to standard EO -1 Earth Observing One vendor c omponents that tailor and qualify them for EPOXI Extrasolar Planet Observation and Deep planetary requirements; 4) flight software to operate Impact Extended Investigation nanospacecraft and their hosted science measurements HEOMD Human Exploration and Operations Mission in deep space; 5) U -class instruments capable of a wide Directorate range of measurements of interest to planetary sci ence iFOV Instrument Field of View investigations; 6) a lessons -learned database to avoid INSPIRE Interplanetary NanoSpacecraft Pathfinder missteps on future developments; and 7) empirical cost In Relevant Environment and schedule bases for such developments. As IPEX Intelligent Payload Experiment exemplified by novel TDOs proposed by seven IR Infra -Red Discovery PIs in 2015, this foundation is already ISARA Integrated Solar Array & Reflectarray ex tending the “CubeSat revolution” throughout the solar Antenna system. ISRU In Situ Resource Utilization JPL Jet Propulsion Laboratory VIII. ACKNOWLEDGEMEN T LEO Low Earth Orbit © 2015 California In stitute of Technology. This LRO Lunar Reconnaissance Orbiter research was carried out at the Jet Propulsion M3 Moon Mineralogy Mapper Laboratory, California Institute of Technology, under a MarCO Mars Cube One contract with the National Aeronautic s and Space MEL Master Equipment List Administration. MLI Multi -Layer Insulation

MOS Mission Operations System 5 S. Spangelo, B. Longmier, and D. Dalle, “Systems - MRO Mars Reconnaissance Orbiter Level Analysis of Small Spacecraft with Electric MSFC Marshall Space Flight Center Propulsion Technologies to Enable New Mission NASA National Aeronautics and Space Architectures, ” presented at the 29th AIAA/USU Administration Conference on Small Satellite s, Logan, Utah, USA, NEA Near Earth Asteroid 2015. NIAC NASA Innovative Advanced Concepts 6 S. Spangelo, B. Longmier, and D. Dalle, NIR Near Infra -Red “Integrated Optimization of Small Spacecraft OCO -3 Orbiting Carbon Observatory 3 Vehicles and Operations for Interplanetary Travel PI Principal Investigator with Electric Propulsion Systems, ” presented at the PSR Permanently Shadowed Region Interplanetary Small Satellite Conferen ce, Santa RAM Random -Access Memory Clara, California, USA, 2015. REBR ReEntry Breakup Recorder 7 M. Pavone, J. C. Castillo -Rogez, I. A. D. Nesnas, J. RF Radio Frequency A. Hoffman, and N. J. Strange, “Spacecraft/Rover RPS Radioisotope Power Systems Hybrids for the Exploration of Small Solar System SKG Strategic Knowledge Gap Bodies, ” in Aerospace Conference, 2013 IEEE , SLS Space Launch System 2013, pp. 1 -11. http://ieeexplore.ieee.org/xpl/ SMD Science Mission Directorate articleDetails.jsp?arnumber=6497160&tag=1 SNR Signal -to -Noise Ratio 8 J. Thangavelautham, M. Robinson, A. Taits, T. J. TCM Trajectory Correction Maneuver Mcinney, S. Amidan, and A. Polak, “Flying , TDO Technology Demonstration Option Hopping Pit -Bots for Cave and Lava Tube TFP Telecom Forecaster Predictor Exploration on the Moon and Mars, ” presented at TRL Technology Readiness Level the International Workshop on Instrumentation for TRN Terrain -Relative Navigation Planetary Missions, Greenbelt, Maryland 2014. UHF Ultra -High Frequency 9 V. Perera, D. Cotto -Figueroa, J. Noviello, E. VEXAG Venus Exploration Assessment Group Asphaug, and M. Morri s, “Asteroid Origins Satellite (Aosat): Science in a Cubesat Centrifuge, ” X. REFERENCES in Conference on Spacecraft Reconnaissance of Asteroid and Comet Interiors , Tempe, Arizona, 1 K. B. Chin, M. C. Smart, E. J. Brandon, G. S. 2015, p. 6024. Bolotin, and N. K. Palmer, “Developing a Li -Ion 10 R. Williams, M. Eby, R. Stahle, and R. Bhartia, Battery and Super -Capacitor Hybrid Energy System “Mars_Drop Microprobe Architecture: Broadening for High Power, Low Temperature Deep Space the Science Return and in Situ Exploration from Applications: A Collaboration between Jpl and Mars Missions, ” in 46th Lunar and Planetary Csun, ” presented at the Space Power Conference, Science Conference , The Woodlands, Texas, 2015, May 13, 2015. p. 2276. 2 J. Sauder, N. Chahat, M. Thomson, R. Hodges, E. 11 N. Arora, N. Strange, R. Cesarone, and L. Alkalai, Peral, and Y. Rahmat -Samii, “Ultra -Compact Ka - “An Architectural Framework for the Design of Band Parabolic Deployable Antenna for Radar and Missions to Explore the Ism, ” presented at the Interplanetary Cubesats, ” presented at the 29 th Science and Enabling Technologies to Explore the AIAA/USU Conference on Sm all Satellites, Logan, Interstellar Medium, Pasadena, California, 2014. Utah, USA, 2015. http://digitalcommons.usu.edu/ http://www.kiss.caltech.edu/study/science/KISS%2 smallsat/2015/all2015/43/ 0How%20Fast%20How%20Far_strange_final.pdf 3 R. Hodges, B. Shah, D. Muthulingham, and T. 12 Venus Exploration Analysis Group (VEXAG), Freeman, “Isara –Integrated Solar Array a nd “Venus Exploration Goals and Objectives: March Reflectarray Mission Overview, ” presented at the 2012, ” 2014. http://www.lpi.usra.edu/vexag/ 27th AIAA/USU Conference on Small Satellites, VenusExploreGoalsObjectives_03_12.pdf Logan, Utah, USA, 2013. http://digitalcommons. 13 C. Calle, C. Buhler, M. Johansen, M. Hogue, and S. usu.edu/smallsat/2013/all2013/12/ Snyder, “Active Dust Control and Mitigation 4 S. Spangelo and B. Longmier, “Optimization of Technology for Lunar and Martian Exploration, ” Cubesat System -Level Design and Propulsion Ac ta Astronautica, vol. 69, pp. 1082 -1088, 2011. Systems for Earth -Escape Missions, ” Journal of 14 D. R. Thompson, J. C. Castillo -Rogez, S. A. Chien, Spacecraft and Rockets, vol. 52, pp. 1009 -1020, R. Doyle, T. Estlin, and D. McLaren, “Agile 2015/07/01 2015. htt p://dx.doi.org/10.2514/ Science Operations: A New Approach for Primitive 1.A33136 Bodies Exploration, ” in Proceedings of SpaceOps , 2012.

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