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Investigating the Feasibility and Mission Enabling Potential of Miniaturized Electrodynamic Tethers for Femtosatellites and Other Ultra-Small Satellites

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Investigating the Feasibility and Mission Enabling Potential of Miniaturized Electrodynamic Tethers for Femtosatellites and Other Ultra-Small Satellites SSC13-VII-3 Investigating the Feasibility and Mission Enabling Potential of Miniaturized Electrodynamic Tethers for Femtosatellites and Other Ultra-small Satellites Iverson C. Bell, III, Brian E. Gilchrist, David Liaw, Vritika Singh, Kyle A. Hagen, Chen Lu, James W. Cutler The University of Michigan Ann Arbor, Michigan 48109, USA; (734) 763-6230 [email protected] Sven G. Bilén and Jesse K. McTernan The Pennsylvania State University University Park, Pennsylvania 16802, USA; (814) 863-1526 [email protected] ABSTRACT The success of nanospacecraft (1–10 kg) and the evolution of the millimeter-scale wireless sensor network concept have cultivated interest in small, sub-kilogram scale, “smartphone”-sized ultra-small satellites, either as stand-alone spacecraft or as elements in a maneuverable fleet. Many of these are envisioned to have a flat geometry and can have a high area-to-mass ratio, which results in a short orbital lifetime in low Earth orbit due to atmospheric drag. Here, we update previous trade studies in which we investigated the use of a very short (few meters), semi-rigid electrodynamic tether for ultra-small satellite propulsion. The results reveal that an insulated tether, only a few meters long and tens of micrometers in diameter, can provide 10-g to 1-kg satellites with complete drag cancellation and the ability to change orbit. Further, a few meter tether could serve as a communications antenna. We also provide a description of the Miniature Tether Electrodynamics Experiment (MiTEE) being planned. The goal of MiTEE will be to demonstrate and study miniature electrodynamic tether capabilities in space. INTRODUCTION possibly enabling unique mission capabilities.6-9 A few The promise and success of nanospacecraft (1–10 kg) missions achievable by a coordinated ChipSat fleet are and the evolution of the millimeter-scale wireless earth observation and global monitoring of forest sensor network concept1,2 have generated interest in fires, earthquakes, tsunamis, etc. and mapping small, sub-kilogram scale, “smartphone”-sized other planetary bodies; satellites3, either as stand-alone spacecraft or as making simultaneous, distributed in situ elements in a maneuverable fleet. Miniaturized measurements of basic plasma properties in the spacecraft at the levels of fully monolithic ionosphere; and semiconductor integrated circuits (10–100 mg) or hybrid integrated circuits (10–300 g) are the next high risk missions where some portion of the frontier in satellite miniaturization, made possible by satellites may be lost. advances in integrated circuit and References 8, 10, and 11 provide other examples of microelectromechanical systems (MEMS) technology. possible ChipSat missions. Effectively, this architecture can be thought of as a small “satellite-on-a-chip,” or ChipSat. The name The flat ChipSat wafers have an inherently high area- “ChipSat” has been adopted from the University of to-mass ratio. Although this feature can be exploited, it Surrey system-on-a-chip program focused on can result in a short orbital lifetime in low Earth orbit miniaturizing the small satellite platform.4 ChipSats (LEO) due to atmospheric drag, ranging from a few can be in the picosatellite (100 g–1 kg) or femtosatellite days to a few hours depending on altitude and solar (<100 g) mass categories. In this paper, we consider conditions.12 Propulsion is also needed to overcome other types of ultra-small satellites as well, using “ultra- drag. In this paper, we update previous trade studies in small” broadly for any satellite with a mass ≤1 kg. which we investigated the use of a very short (few meters), semi-rigid electrodynamic (ED) tether for ChipSats are an attractive platform because they can be femtosatellite propulsion. less costly to manufacture in bulk and boost into orbit because of their low mass and small size.5 As a result, it may be possible to launch them in large numbers, Bell et al. 1 27th Annual AIAA/USU Conference on Small Satellites SATELLITE SIZE CONSIDERATIONS With an exception of WikiSat V4.1, none of the The first step in the trade study was to establish the ChipSat dimensions exceed 10 cm. This feature size, shape, and mass of adequately representative allows the spacecraft to be stored inside a CubeSat satellites to be utilized. Satellite size and shape are or integrated into its structure. important for several reasons. First, they help establish Sensor Size Considerations the level of atmospheric effects, which in turn establishes the required thrust for drag make-up using Sensors size and use requirements can also influence the miniature tether (including the tether system’s drag the satellite bus size. Table 2 shows a brief list of effect). Next, the gravity-gradient force, which causes possible sensor technologies that have been identified tension in a tethered system and a restoring torque for ultra-small satellites. along the local vertical, is proportional to the mass of the satellites. Finally, size and shape influence the It has been suggested that coordinated, controllable electrical power that can be generated by surface groups of femtosatellites could perform remote sensing mounted photovoltaic (PV) cells and used for missions, so two visible imaging sensors are provided 18 propulsion. in Table 2. Antennas can also be used to make radio- based remote sensing measurements. The Cyclone Spacecraft near and below 100 g are a relatively new Global Navigation Satellite System (CYGNSS) and evolving architecture, so they may assume a variety constellation of nanosatellites, for example, will use of shapes and sizes over time. There are, however, reflected Global Positioning System (GPS) signals to several detailed ChipSat design studies that may serve measure ocean surface wind speed.19 Thus, a GPS as guiding examples. The masses, size, and shape of a receiver can function as a scientific instrument. few pico- and femtosatellites are listed in Table 1. The Miniaturized ElectroStatic Analyzer (MESA) is Table 1: Example ChipSat Size, Mass, and Shape capable of providing in situ electron and ion density and temperature measurements, potentially enabling Satellite Size Mass Box detection of ionospheric depletions or “plasma Shape? 20 4 bubbles.” Particles in the 0–20 eV range can be PCBSat 10 cm×10 cm×2.5 cm 311 g Yes detected. The use of MESA would require attitude PICOSAT 10 cm×7.5 cm×2.5 cm 275 g Yes 13 control because the instrument needs to be oriented in 1.0 the ram direction to measure ions. MESA has flown on 4 MCMSat 10 cm×10 cm×1 cm 170 g Yes the MISSE-6, MISSE-7, and FalconSat 5 missions.20 1Q 5 cm×5 cm×5 cm 125 Yes At a smaller scale, the Flat Plasma Spectrometer 14 PocketQub (FlaPS) is capable of analyzing the energy and angular RyeFemSat15 9 cm×9 cm×1 cm 100 g Somewhat distributions of ions and electrons in the 10 eV–50 keV WikiSat 14.1 cm×3 cm×7 mm 19.7 g Somewhat range. The instrument is described as a single “pixel” V4.116 that could be combined with other FlaPS pixels. FlaPS 21 SpaceChip 4 2 cm×2 cm×3 mm ~10 g Yes was launched on the FalconSat 3 mission. Sprite17 1 cm×1 cm×25 µm 7.5mg Yes Langmuir probes have also been suggested for small A few observations from Table 1: satellites.22 Langmuir probes are common plasma diagnostic tools for measuring plasma potential and There are two basic approaches: the “spacecraft- electron and ion density and temperature. The probe on-a-PCB” approach, which relies on components size and shape are influenced by a variety of factors, mounted on a printed circuit board (PCB), and the including ambient conditions, spacecraft surface area “spacecraft-on-a-chip” approach, which exploits for return current, and the sensitivity of the current semiconductor and MEMS manufacturing measurement equipment on board the spacecraft. principles for the design of monolithic, integrated electronics. The Gas Chromatography Chip is an example of a The spacecraft busses are all roughly rectangular MEMS-based “micro gas chromatograph” (µGC) boxes, taking this shape because their PCBs and designed for terrestrial applications.23 However, a silicon-based wafers are thin, flat squares. The similarly sized µGC could be considered for in situ exceptions are RyeFemSat, which has corner atmospheric studies. notches to accommodate the rails of a CubeSat, and WikiSat V4.1, which is a long, thin rectangular plank with a cylinder in the center.15,16 Bell et al. 2 27th Annual AIAA/USU Conference on Small Satellites Table 2: Example ChipSat Sensors tether is typically much longer than the satellites. Figure 2 shows an illustration of the basic components Example Sensors Approximate size in the concept. Current conducted by the tether is Miniaturized ElectroStatic 10 cm×10 cm×3 cm collected by the satellite at one end of the tether while Analyzer (MESA)20 the satellite at the opposite end emits electron current. 23 Gas Chromatography Chip 10 cm×10 cm×3 mm Final circuit closure occurs in the ambient plasma, MEMS Flat Plasma ~1 cm3 (per pixel) satisfying Kirchhoff’s Voltage Law. Spectrometer (FlaPS)21 GPS receiver24 1.6 cm×1.9 cm×2.3 mm When an ED tether conducts current, it interacts with Visible imaging sensor25 6 mm×6 mm×4.5 mm the planetary magnetic to produce a thrust force. This force is expressed as Visible imaging sensor26 2.5 mm×2.5 mm×2.9 mm The satellites considered in this trade study range from L F I dLB 10 g to 1 kg. The largest 1-kg satellite has roughly the Lorentz tether , (1) same dimensions as a 1U CubeSat. At the next mass 0 level below this, we consider two 100-g satellites: one where Itether is tether current, dL is a differential thin, flat planar satellite and one cubic satellite.
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