Descending Through the Ice Into the Ocean on Europa and Enceladus: Opportunities for Norway Cryobot Testing Svalbard, 2001 Spaceport Norway 2019

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Descending Through the Ice into the Ocean on Europa and Enceladus: Opportunities for Norway Cryobot Testing Svalbard, 2001 Spaceport Norway 2019

Trondheim, Norway September 4-5, 2019 Cryobot

Knut. I. Oxnevad, Jean-Pierre Fleurial, David F. Woerner, Samuel Howell, Miles Smith, Terry J. Hendricks, Bill Nesmith, Scott Roberts, Adarsh Rajguru, and Will West Jet Propulsion Laboratory, California Institute of Technology JPL is part of NASA and Caltech

• Federally-funded (NASA-owned) Research and Development Center (FFRDC) • University Operated (Caltech) • ~$1.8B Business Base • ~5,600 Employees • 177 Acres (includes 22 acres leased for parking) • 97000 m2 of lab space

Planetary Science • Spacecraft to observe the planets (including Mars), their moons, the sun, comets, and asteroids Earth Science • Spacecraft and instruments observing the Earth • Studying geology, hydrology, ecology, oceanography, gravity and climate Deep Space Astronomy and Physics • Observatories and telescopes observing deep space • Studying galaxy, star and planetary system formation • Mapping our Milky Way galaxy and the universe • Finding planets on other star systems Technology • Support space missions • Develop technologies in telecommunications, navigation, autonomy, remote sensing, imaging and image analyses, robotics, science instruments and micro/nano-systems

JUNO 5/2011 -

Insight 5/2018 -

Mars Science Laboratory (MSL): 2011 - Mars Exploration Rovers: 2003 Opportunity mission ended 2/2019

Soil Mosture, Passive, Active (SMAP) 1/2015-

To descend beneath the ice of ocean worlds, characterize their subsurface, their habitability, and search for life. Decadal 2013-2022

Our driver: Science community’s recognition that many key questions related to these themes are best answered through in situ analysis of the ice shell interior and ocean of Ocean Worlds 5 Science Exploration Goals

Artists' Concept Lander: Surface evolution, inferences of interior structure, chemistry, and activity; indirect evidence for extant life

Drill and payload: Compositional evolution and mixing, interior geodynamics (and paleogeology), fundamental nature of ices, ocean access, ice ocean interface physics, ocean mixing and ice shell interaction, direct evidence for extant life Europa Enceladus

Explore the ice ocean interface and search for life Characterize ice and probe melt with depth 6 Extreme Environment of Ocean Worlds

Artists' Concept Avoid known hazards and predicted active geologic features

Lithosphere (ice behaves like rock)

Warm Interior “Asthenosphere” (plastic ice)

Ice-Ocean Interface Enceladus Avoid or overcome hazards (voids, lakes, salt accumulations) Europa Notional Mission Architecture

Descent & Landing

Interplanetary Cruise 5-8 yrs Planetary Tour 2 yrs Commissioning & Deployment

Ice-Ocean Descent, 3-5 yrs Interface Ops

Descent Probe Ocean Decommissioning Exploration, 0.5 yrs

NOT TO SCALE

Pre-flight & Launch Operations

2030–2040 Pre-Decisional Information -- For Planning and Discussion Purposes Only Key Challenges Descent & Landing Launch/Cruise/Interplanetary Tour/Descent and Landing • Thermal control • Mass and volume constraints • Planetary Protection • Precision landing

Commissioning & Deployment Commissioning • Deployment mechanisms and processes & Deployment • Startup phase on cryogenic ice surface Ice-Ocean Descent, 3-5 yrs Descent Interface Ops • Autonomous operations, communication architecture • Detecting and avoiding in-ice hazards Descent Probe Ocean Decommissioning Exploration, • Hybrid drill/melt head that integrates, imagery and illumination, heat 0.5 yrs transfer, and sonar

NOT TO SCALE Probe Decommissioning/Ice-Ocean Interface Ops • Reliable anchoring before reaching the ice/ocean interface

Ocean Exploration 9 • Deployment and operation of ocean explorer

Pre-Decisional Information -- For Planning and Discussion Purposes Only Launch/Cruise/Interplanetary Tour/Descent and Landing

Planetary Protection: Develop Sterilization strategies for lander, descent probe (external/internal), and integrate with Contamination Control and develop. Thermal Control: Design and performance model for embedded adaptive loop heat pipe system integrated with thermoelectric generators(s) and external vessel. Cruise Power: Solar power versus direct feed from descent probe’s on board thermoelectric power

Pre-Decisional Information -- For Planning and Discussion Purposes Only Commissioning & Deployment

Transitioning from Cruise configuration to Ice Penetration configuration • Deploy pressure collar Initiation transitions to: Rotating Melting, cutting, and water jetting • Drain hot enclosure Drill/Cutter Depositing lander electronics Stationary Deployment and startup of ice penetration Relay telecom checkout considers: sections • Use of drill head without melting or waterjetting (initially), • Reducing sublimation by utilizing pressure collar, • Deplopymentg of anti-torque mechanisms to counteract cutting forces in low gravity.

11 Pre-Decisional Information -- For Planning and Discussion Purposes Only Descent I

Autonomous GN&C and Hazard Detection

Potential Pose estimation Sensors

Depth Ranging from pucks Lateral position

Attitude Side-scan sonar, RF, imaging

Descent, 3-4 yrs Situational Inertial sensors awareness Magnetometer Mapping Pressure sensors Hazard detection Thermocouples NOT TO SCALE Ocean Forward sonar, RF, imaging detection

Pre-Decisional Information -- For Planning and Discussion Purposes Only 12 Descent II

Melt • Thermal energy melts ice ahead and along probe • Power can be aboard probe or transferred by tether from surface • Rate of travel depends on: • Amount and distribution of thermal energy Zimmerman, French, JPL 2001, • Probe volume and form factor cryobot melt test, Svalbard. • Ice salinity

Water Jet • Can be added to further melt ice and move melt water – electrical energy needed to drive pumps

Mechanical Cutting • Electrical energy drives blade to shave ice • Chips need to be moved from front of probe

Honeybee Robotics

13 Pre-Decisional Information -- For Planning and Discussion Purposes Only Probe Decomm./Ice-Ocean Interface Ops & Ocean Exploration

Communications Eelbot study focused on most exacting Puck payload concept: long-lived, long range, self- Anchor well before propulsed and powered mobility platform the detected Ice- Ocean Interface Eelbot concept

• Deployment & operation of ocean explorer Thermal & pressure Ice-Ocean Interface Ops • Miniaturized electronics and science vessel systems for anchoring, payload instrument suite Ocean deployment and Exploration • Highly autonomous operation thermal/fluid management • Water propulsion NOT TO SCALE • On-board heat & power

• Ocean Exploration science may be tethered

Pre-Decisional Information -- For Planning and Discussion Purposes Only Energy Source Options for Thermal and Electrical Power

Fission Reactor General Purpose Chosen path Heat Source (GPHS) Module Nuclear SRG (Stirling)

GPHS RTG (Thermo- Electric) Type Advanced Heat Source Battery Energy density and form factor are critical 9 year mission life to ice penetration necessitated active Stored Fuel Cell performance and power generation meeting mission length constraints Solar is deemed Solar Fly-wheel insufficient for zeroth order thermal energy needed to melt ice

15 Pre-Decisional Information -- For Planning and Discussion Purposes Only RTG Powered Missions (examples)

Voyager 1 and 2 Galileo Ulysses Cassini

1977- > (41y +) 1989 – 2003 (14y) 1990-2009 (19y) 1997-2017 (20y) Solar system Jupiter Sun Saturn 3 MHW–RTG; 420 We 2 GPHS-RTG; 570 We 1 GPHS-RTG; 285 We 3 GPHS-RTG; 683 We (1) New Horizons MSL - Curiosity Mars 2020

2020 (planned) 2006 -> (12y +) 2011- > (7y +) Mars Pluto, Kuiper belt Mars 1 MMRTG; 95 We 1 GPHS-RTG; 246 We 1 MMRTG; 95 We 16 Pre-Decisional Information -- For Planning and Discussion Purposes Only Conceptual On-board Thermoelectric Power Systems Lander Comm Puck Cryobot RTG (s) Electronics RTG RTG EELBOT 0.75 kWth/60 We 1 kW /100 W Each up to 4kWth /400 We th e 3-4 Wth/120 mWe

Cruise Radiator

• High thermal and electrical power system • Significant thermal inventory (> 8 kWth) • Advanced RTGs are a key technology to enable such mission concepts Pre-Decisional Information -- For Planning and Discussion Purposes Only Performance modeling Studies: Europa & Enceladus

Europa Europa point model Enceladus Enceladus point model • Nimmo T(z) profile ⁄ • � = 100� • 15km ice shell • 3.8% NaCl • 6km shell, 3.8% NaCl

Available heat from two full size Next gen RTGs Available heat from two full ~4.5 years size Next gen RTGs

~ 3 years

Modified Aamot-type thermal simulation Modified Aamot-type thermal simulation (waterjetting/melting modes but no accounting of (waterjetting/melting modes but no accounting of With added With added drilling/cutting capability) drilling/cutting capability) Eelbot payload Eelbot payload with heat transport effectiveness fmax = 0.6 with heat transport effectiveness fmax = 0.6

• Probe diameter is a major driver for time-to-ocean performance • ~30% faster time to ocean for Enceladus partially offsets longer cruise phase

Pre-Decisional Information -- For Planning and Discussion Purposes Only EELBOT–Waste Heat-Powered Long-Life Ocean Explorer System architecture trades performed

• Mobility/body type: – Tethered for initial swim phase then untethered, powered, water-jet propulsion OR permanently tethered, powered kite OR no ocean explorer • Propulsion type: – Direct waste heat-to-mechanical energy OR waste heat-to-electrical-to mechanical energy • Working fluid: – Ocean water/Internal water reservoir/Helium/Alkanes (butane, propane)/ Hydrofluorocarbons / chlorofluorocarbons • Instrumentation distribution: – Single package OR Distributed instruments in individual segment Potential system capabilities • Km-range mobility from initial ice/ocean interface entry point – Can perform swimming chemotaxis: follow a chemical “scent trail” • Long-life operation provided by radioisotope waste heat that is directly converted to mechanical energy for water jet propulsion – Potentially multi-year undersea exploration – Thermoelectric system provides electric power for avionics / communication • Carries suite of instruments for habitability, life detection Three-segment EELBOT design variant with “Mini-RTG” Concept – ChemSuite, multispectral cameras, temperature and pressure sensors, bio-signature/life detection

Time-dependent pressure/temperature COMSOL model of piston stroke Pre-Decisional Information -- For Planning and Discussion Purposes Only Moving Forward

• Pursuing design studies and trade analyses • Focus on developing high fidelity ice penetration models and verifying performance predicts • Collaborative work (JPL & external partners) • Summary of recent results to be presented next week at IEEE Aerospace Conference • Refining cryobot designs and account for range of radioisotope-based thermal and electrical power system concepts • Developing mission concepts of operations

20 Pre-Decisional Information -- For Planning and Discussion Purposes Only Opportunities for Norway

Student Internship, PostDoc, and Visiting Scholar Programs • JPL • NASA RIMFAX (Radar Imager for Mars' Subsurface Exploration). A centimeter-scale ground- Technology/Science Collaboration penetrating radar. FFI, Norway • Universities • Research Organization • Industry

Sensors and relevant technologies • Industry • Universities and Research Organization

Testing (e.g. Svalbard) Zimmerman, French, JPL 2001, cryobot test, • Norwegian Polar Institute Svalbard. Support: Norwegian Space Agency, Norwegian Polar Institute

21 Student Internships

JPL 1. JPL Visiting Student Research Program (JVSRP) a) Active student pursuing a degree in science, technology, engineering or mathematics disciplines. b) Foreign student interns must be funded by their home country, e.g. their university or Diku, etc. c) Open to undergrad and grad students. We prefer MS or Ph.D. students, who could possibly combine their stay with working on their MS thesis or dissertation d) Period: 4 weeks to 12 months, preferably 3-6 months e) Start: Anytime of the year f) Grade Point Average: >GPA 3.0 g) Funding > $2,400 per month during the stay h) Processing time: 3-4 months i) The JPL International Office generates the required immigration document students will need to apply for a visa (F-1) j) Students from Norwegian universities so far: University of Oslo (1), University of Bergen (1), UiT (2), and NTNU (2)

https://www.jpl.nasa.gov/edu/intern/apply/visiting-student-research-program/

NASA 1. Similar program at other NASA centers. 2. Norwegian Space Agency supporting an internship with NASA Ames.

https://www.nasa.gov/offices/education/programs/descriptions/international-internships-for-students.html

22 Postdoc JPL 1. The JPL Postdoctoral Program offers opportunities for research positions that provide significant training for the nation's future scientific and technological leaders. This program allows postdocs to work directly with a JPL advisor on a research topic of mutual interest. 2. Research opportunities are posted in various journals and websites. 3. Applications are accepted and evaluated by the advisor. Selection is made by the advisor and any other scientists involved in the research work with final concurrence from the Office of the Chief Scientist. 4. Period: Appointments are made for 1 year, but are renewable up to a maximum of 3 years 5. Start date: Anytime during the year. https://postdocs.jpl.nasa.gov/programs/jpl/ List of announced Postdoc Positions at JPL https://jpl.jobs/postdoctoral-study?CFID=9f9dc271-dd94-4a26-bf36-f08cd32d70e8&CFTOKEN=0 NASA 1. The goal of the NASA’s Postdoctoral Program (NPP) is to provide some of the most talented new and senior Ph.D.'s with opportunities to participate in NASA mission-related activities as guests at NASA Centers, Headquarters, and other NASA- approved sites (such as JPL). 2. Managed by Universities Space Research Association (USRA). 3. Applications for research opportunities are accepted at anytime, but are evaluated only three times a year beginning November 1, March 1, and July 1. 4. The application process involves the advisor's recommendation as well as evaluation through an independently appointed review panel. Selections are made by JPL and are based on NASA's research priorities, quality of applications, and availability of funding. 5. Period: Appointments are made for 1 year, but are renewable up to a maximum of 3 years. 6. Currently, there are over 50 NPP fellows doing their research at JPL. https://postdocs.jpl.nasa.gov/programs/npp/ 23 Visiting Scholar Programs

JPL JPL is proud of its long record of mutually beneficial partnerships with universities and continually seeks to work with faculty and the next generation of scientists and engineers to ensure JPL's continuing successful contribution to NASA's missions. JPL hosts a variety of collaborators from all parts of academia. JPL values our relationships with the external research community. We view our academic collaborators as a critical part of our community. We are committed to providing an enriched and rewarding experience during their visits to the Laboratory. JPL Visiting Postdoctoral Scholar 1. This program was established to enable the hosting of postdoctoral candidates with access to funding opportunities from non-NASA institutions, universities, or foreign governments, (i.e. Fulbright Fellowships, Swiss Science Foundation). This would also include researchers funded by e.g. Diku. 2. The purpose of the program is to strengthen and advance areas of research that are of strategic interest to JPL through the exchange of ideas, research methods, and technical expertise. 3. JPL does not accept unsolicited research requests, and the collaboration should be in response to an existing postdoctoral research opportunity at JPL, or via a request from the JPL host/advisor. 4. As part of their fellowship, students are partnered with JPL scientists or engineers, who serve as the students' mentors. 5. Students complete designated projects outlined by their mentors, gaining educational experience in their fields of study while also contributing to NASA and JPL missions and science. 6. Students will also have the opportunity to participate in a number of enrichment activities, including tours, lectures and career advisement, arranged by the JPL Education Office https://scienceandtechnology.jpl.nasa.gov/opportunities/positions-and-fellowships/academic-liaison

NASA Limited information is available, but JPL’s PostDoc/Visiting Scholar program office can help here.

24 Opportunities for Norway: Next Steps

To bring these exciting Internship, Postdoc, and Visiting Scholar Opportunities to Norwegian Students and Researchers, we are working with…,

• at JPL, • our friends and colleagues to define concrete opportunities. Some areas we have indentified: a) Electronics/robotics, e.g. for oceans b) Machine Learning/deep learning, and advanced statistics c) Material science, e.g. within thermoelectrics d) Geo science/GIS/remote sensing/planetary science/Planetary physics • the offices for foreign student internships and the office of Postdocs and Visiting Scholars to deal with the practical aspects of bringing Norwegian students/researchers to JPL • The Science Counselor, at the Norwegian Embassy, to bring together experts from Norway and the JPL and NASA system, with the aim of developing collaboration projects. An incredible support. • Diku, for funding to utilize these opportunities. • Norwegian companies, to possibly provide additional funding. • Norwegian Universities and Research Organization to make these opportunities known to them, their students and researchers. • While in Norway, I’ll be meeting with NTNU, SINTEF, University of Oslo, Norsk Regnesentral (NR), University of Bergen, Bjerknes, NORCE, and the University of Stavanger • Objective: To get more top-level students and researchers to JPL and NASA from Norway!

The Norway California Business Association initiates, facilitates, and coordinates. 25 Dare Mighty Things