Ice D Rilling Philberth Probe/Cryobot & H Ot W Ater Drilling and the EPIC

PhilberthDEEP SOUNDIN G : TECHNIQUES 65 Probe (1968) SESAME EPIC Combined (Vac + (2018) Hyperbaric Chamber): HEATED RESERVOIR M

UPPER HOT POINT i ü

COIL SECTION J-NEXT Ice Drilling CHROWE (2018)

INSTRUMENTATION SECTION Philberth Probe/Cryobot & Hot Water Drilling and the

LOWER MOT 108 Benson and others: IceCube Enhanced Hot Water Drill POINT EPIC

THE PHILBERTH PROBE THE PENDULUM PROBE Atelier FIG. 1. The probes have a length to diameter ratio of about 25:1. Their power levels range from 5 to 15 kw for penetration rates from 2-5 to 5 m/hr. (2017) Hot Water Drill Science Payload 1978-1979) Knut I. Oxnevad, Bill J. Nesmith Conceptual Design (submersible) Comm Electronics (C&DH (5 pucks) and Nav) 7 KWth Main + 1 KWth Nose Power Sources CBE Mass CBE Power JPLFig. 3. TOS structure and tower,drill cable reel,return water reels,and drill supply hose reel. Ice Probe (Kg) (We) Total Probe 210.8 597.6 reintroduced into the system as a source of make-up water. film on all internal wetted surfaces and in the borehole Although this could provide up to 15% of the required water column. In retrospect,the project should have opted Navigation 4.59 11.4 Power June 3,make-up 2019water,the additional work to maintain the for stainless coils for both heat exchangers to avoid the iron (New Microsphere C&DH 1.50 10.0 collection system and neutralize the condensate seemed to oxide accumulation. Drill and Jet Radioisotope Based Thermoelectric outweigh the benefit. Other means of disposal would be Downstream of the MHP buildings,the heated water was Power 33.26 4.0 (Shaving bit with Generator) water jets) considered in the future. routed back to the HPP to combine the flows into a simple Telecommunication 5.55 30.0 Redundant levels of safety were implemented on the manifold;measure the pressure,flow and temperature;and © 2019 California Institute of Technology.heaters. GovernmentHeater output temperature was sponsorshipinstrumented with finally direct acknowledgedthe water to the TOS via a long insulated. Drilling / Water Jet 16.00 400.0 With newly developed pellet thermal source three levels of safety devices (thermocouple monitored by 64 mm inner diameter (i.d.) ethylene propylene diene Submarine payload 26.70 27.2 control system; local thermostat and thermocouple; over- monomer (EPDM) rubber surface hose. Structure 112.00 5.0 temperature switch),and flow with two levels (turbine flow meter monitored by control system;local differential pres- Tower operations site (TOS) surface equipment Thermal 11.20 110.0 (Figs 3 and 4) sure switch across heater). Note that the flow and tempera- Margin (%)* 41 29 ture devices work in conjunction with each other,since a The primary function of the TOS during deep drilling was to 4 m satisfied flow is required to transport heated water past the deliver hose and cable to the hole at an appropriate rate for SUSI (at DLR EnEx Ice*Mass margin calculated against 335 Mole Kg landed mass allocation for Europa Lander Class DDL COLDTech APL-UW Ice VALKYRIE temperature sensors. IeCubecreating the desired hole shape. With the hose and cable *Power margin based on 836 W EOL (9 years) The primary heater coils were schedule 80 steel pipe. deployed to 2500 m,there was 118 kN of equipment load,

Stone and others: Towards an optically powered cryobot These corroded,resulting in build-up3 of a muddy iron oxide but only 29 kN of downward load exerted on the drill tower Dachwald and others: IceMole 17 Power (GPHS Testlab) Diver (2013) (2014) (2014) (2014) CHAMPbased) (2006) With existing GPHS thermal source(2016) 19 CHIRPS (2001)

Fig. 6. Deployment of the IceMole 1 prototype on Morteratsch- gletscher in 2010.

The penetration velocity in each of the tests was only 1 0.3 m h because of the still suboptimal matching ⇠ between drive and melting power. IceMole 2 Between 2010 and 2012, a second IceMole prototype, IceMole 2, was developed at FH Aachen University of Applied Sciences (Fig. 10; Table 1). IceMole 2 had a more sophisticated heater control system, with 12 separately controllable heating cartridges in the parabolically shaped melting head and eight side-wall Fig. 5. IceMole 1 assembly view. heaters. Both updates were intended to improve the probe’s maneuverability and support its curve-melting capabilities. IceMole 2 weighed less than IceMole 1 and contained an attitude and position determination system. The melting 1 velocity was increased to 1mh . ⇠ Fig. 2. VALKYRIE field test set-up. Table 1. Technical data for the different IceMole probes Fig. 4. TOS surface and downhole equipment. IceMole 1 IceMole 2 EnEx-IceMole 1 the following layer structure: 400 m core diameter, 440 m external optical waveguide? Will there be unacceptable m m Cross section 15 cm 15 cm 15 cm 15 cm 15 cm 15 cm ⇥ ⇥ ⇥ power losses over a 3–4 km penetration distance? Will the outer diameter (OD) cladding and 480 mm OD polyimide Shape of melting head complanate parabolic complanate Max. heating power for melting head 4 800 W 12 200 W (8 200 W) (8 160 W) ⇥ ⇥ ⇥ á ⇥ Max. heating power for side-wall heaters N/A 8 300 W 8 1000 W bending of the fiber to create an on-board spooler on the coating (for the prevention of water intrusion). The ⇥ ⇥ (partial coverage with const. heat distr.) (full coverage with linear heat distr.) vehicle exacerbate power losses? composite fiber had a numerical aperture (NA) of 0.22. Max. power for forward melting 3.2 kW 2.4 kW 2.9 kW Max. power for curve driving 1.6 kW 1.8 kW 5.0 kW 1 1 1 High-power fiber transmission tests were conducted by For these high-power tests we used an IPG 20kW Max. penetration velocity 0.3 m h 1.0 m h 1.1 m h ⇠ ⇠ ⇠ Length (without ice screw) 0.9 m 1.2 m 2.0 m Stone Aerospace (SAS) engineers in July 2010. The optical multimode fiber laser (1070 nm, model No. YLS-20000). Length of ice screw 7 cm 8.5 cm 6 cm waveguide was a custom-made silica fiber 1050 m in length The laser was calibrated, using a collimator and a Primes Ice-screw driving power 25 W 25 W 25 W Mass 30 kg 25 kg 60 kg ⇠ ⇠ ⇠ with a core diameter of 400 mm, which was spooled onto a calorimeter, from 40 W to 20 kW prior to testing through the Max. pressure 1 bar 5 bar 5 bar Bus system SPI CAN CAN, Ethernet water-cooled polyethylene tray of 1 m diameter (Fig. 4). The optical waveguide. Figure 5 shows the experiment archi- Communications to surface power-line modem power-line modem Ethernet and power-line modem 1 1 1 Max. data rate to surface 19.2 kbit s 19.2 kbit s 1000 Mbit s spool diameter was chosen because it exceeds the theoret- tecture. Connection of modular high-power laser elements Attitude and position determination system no simple advanced Decontamination and sampling system no no yes ical threshold for significant power loss due to fiber-bending requires the use of special connectors in which the fiber is Obstacle and target detection system no no yes effects. The power transmission fiber, specified by SAS and terminated into a fused quartz block within a water-cooled Field tests Morteratschgletscher Morteratschgletscher 2012, Morteratschgletscher 2013, 2010 Hofsjo¨kull 2012 Canada Glacier 2013 Longest channel made 5m 8m 25 m manufactured by Polymicro, consisted of a multimode step housing. Two connectors can be joined within a beam ⇠ ⇠ ⇠ Min. curve radius 10 m N/A 10 m index pure silica core with fluorine-doped cladding. It had coupler (Fig. 6), which contains internal optics that expand, ⇠ ⇠ Notes: N/A = not applicable. Max. power for curve driving = (0.5 max. heating power) for melting head + (0.25 max. heating power) for side-wall heaters. collimate and align the beam with the adjacent connector ⇥ ⇥ optics. The coupler housing is also water-cooled and contains several sensor interlocks that enable automated shutdown of the laser if the coupler overheats. These interlocks are required because the power levels are sufficient to initiate a fiber ‘fuse’ in the event of a thermal

Fig. 3. Mission duration as a function of input power for a 0.25 m Fig. 4. Preparing 1050 m of fiber for the initial high-power diameter cryobot. transmission test. DEEP SOUNDING : TECHNIQUES 65 A. Ice Melting Systems: The Start

HEATED RESERVOIR M The cryobot, initially called the “Philberth Probe, was invented by German physicist Karl Philberth. It was first UPPER HOT demonstratedPOINT iinü the 1968 International Glaciological Greenland Expedition (EGIG). Drilling depths in excess of 1,000 meters (3,300 ft) were achieved. During this time Philberth seemed to have worked closely with H. W. C. Aamot and B. Lyle Hansen, of the U.S. Army Cold Regions Research and Engineering Laboratory (CRREL). As part of this collaboration, Aamot developed the heat transfer and performance analysis approaches for the thermal probe.

COIL SECTION

Probe Concept Probe Name Dimensions: Mass (kg) Thermal Tether Passive Active (Water Jet: Max Depth Velocity (m/h) Environment Ice References d x l (m) Power (kW) (Y/N) (Melt only): WJ or Drill: D) (m) (Vacuum: V or Temperature Y/N Atmosphere: (K) A) Probe I and II I: 0.108x2.5; NA 3.6 Y Y N I: 218; II: 1005 2 A 243 (after Philberth, INSTRUMENTATION “PhilberthSECTION Probe” II: 0.108x3 cooling) K., 1968

LOWER MOT AAMOT,POINT H. W. C., Heat transfer and performance analysis of a thermal probe for glaciers. U.S.A. CRREL Technical Report 194, 1967 Philberth, K., THE THERMAL PROBE DEEP-DRILLING METHOD BY EGIG IN 1968 AT STATION JARL-JOSET, CENTRAL GREENLAND, Ice-Core Drilling ed. J. F. Splettstoesser, University of Nebraska Press, 117-131, 1976

THE PHILBERTH PROBE PhilberthTH, EK, PENDULU Background:M PROBE https://en.wikipedia.org/wiki/Bernhard_Philberth (1) (1) HALDOR W. C. AAMOT, INSTRUMENTS AND METHODS INSTRUMENTED PROBES FOR DEEP GLACIAL INVESTIGATIONS, Glaciology, Vol. 7, No. 50, 1968 2 FIG. 1. The probes have a length to diameter ratio of about 25:1. Their power levels range from 5 to 15 kw for penetration rates from 2-5 to 5 m/hr. B. Hot Water Drilling Systems: The Start

In 1978-1979, three holes 420 m deep using a hot-water drill were drilled by J. A. Browning at site J-9 in the Ross Ice shelf. This marks, according to B. Lyle Hansen, the beginning of the use of hot-water drilling into ice shelfs. A 76-cm diameter hole was drilled at a penetration rate of 0.7 m/min using 320 l/min water initially heated from 2 °C to 98 °C. B. Lyle Hansen was at this point a highly experienced ice shelf ice driller and corer, and glaciologist. He had been working at the Byrd Station (Antarctica) and Greenland since 1961. The Hansen Inlet (75°15ʹS 63°40ʹ) in Antarctica is named after him.

Figure 1: Drilling the first hole Figure 2: Pump is lowered into the Figure 2: The second hole continues using surface water tank (1) “bulb” formed to provide water for through the bulb as the access hole tank drilling hole 2 tank (1) (1)

B. Lyle Hansen, An overview of Ice Drilling Technology, Proceedings of the Second International Workshop/Symposium on Ice Drilling Technology, Editors, G. Holdsworth, et. al., Calgary, Alberta, CA, August 30-31, 1984 B. Lyle Hansen, C. C. Langway Jr., Deep Core Drilling in Ice and Core Analysis at Camp Century, Greenland, 1961-1966, Antarctic Journal September-October 1966 Hansen Inlet: https://en.wikipedia.org/wiki/Hansen_Inlet Browning, J.A., Bill, R.A., Sommerville, D.A., Hot-Water Drilling and coring at site J-9, Ross Ice Shelf, Antarctic Journal of the United States, vol. XIV, no.5, p. 60-61, 1979 (1) Bruce R. Koci, HOT WATER DRILLING IN ANTARCTIC FIRN AND FREEZING RATES IN WATER-FILLED BOREHOLES, Proceedings of the Second International Workshop/Symposium on Ice Drilling Technology, Editors, G. Holdsworth, et. al., Calgary, Alberta, CA, August 30-31, 1984 3 C.1. Current Drilling Systems

Probe Concept Probe Name Dimensions: d x l Mass (kg) Thermal Tether (Y/N) Passive (Melt Active (Water Max Depth (m) Velocity (m/h) Environment Ice References (m) Power (kW) only): Y/N Jet: WJ or Drill: (Vacuum: V or Temperature D) Atmosphere: A) (K) CHIRPS 0.12x1.25 40 0.8 Y (also N WJ 5 0.4 (P)/0.6 (WJ) A 263 Zimmerman, W., 2001a and tether less 2001b. concept) SUSI type (AWI) 0.15x0.605 (0.35) 100's 0.6 Y Y 0.2 (0.3) 0.13 (0.09) V 100 Treffer, M., 2006, 628-634 and Ulamec, S., 2007, 12 SUSI II (AWI) 0.1x2.25 100's 3.4 Y Y 220 2.93 A NA Ulamec, S., 2007, 3

CHIRPS SUSI (at DLR Testlab) Tether

Electronics Mounting Plate Tether Brake Heater

Electronics Inlet (water) TETHER BAY Motor (in shell) Immersion Camera Connector Heater Rear Bulkhead

Reservoir PRESSURE VEHICLE

Window Heater

BOW Forward Bulkhead Connector

Nozzle PUMP BAY

Pump Sonar (transduced) (2) (1)

Figure 2. Cryobot Overview.

Treffer, M., Komle, N. I., Kargl, G.,Kaufmann, E., Ulamec, S., Biele, J., Ivanov, A., Funke, O. (2006), Preliminary studies concerning subsurface probes for the exploration of icy planetary bodies, Planetary and Space

Modem/ Generator Legend: Science subglacial aquatic ecosystems, doi: 10.3189/2014AoG65A004,Ground Workstation Annals of Glaciology 55(65) 2014 DC Converter FY 00 Config FY 01 Config Tether (power/com) 54 (2006) 628–634 FY 02 Config (1) Ulamec, S., Biele, J., Funke, O., Engelhardt, M. (2007), Access toOdometer glacial and subglacial environments in the Solar System by melting probe technology, DOI 10.1007/s11157-006-9108-x, Environ Sci Biotechnol (2007) Backup Power C & DH/ 6:71-94, 3 and 12 Battery Converter Modem HShell Power Local Distribution H (2) Zimmerman, W., Bonitz, R., Feldman, J. (2001a).H2 O Cryobot: An Ice PenetratingMemory ShellRobotic Vehicle for Mars and Europa, 0-7803-6599-2/01/2001 IEEE Sample in Science TShell 4 Zimmerman, W., Bryant, S., Zitzelberger, J., Nesmith, B.Instrument(s) (2001b). RadioisotopeController MUX/A-D Powered Cryobot for Penetrating the Europan Ice Shell, American Institute of Physics, Conf. Proc. 552, 707 Signal Condition PShell/Strain

Sequencer

Power 2- Axis Bus Inclino- Filter ^P meter THeaters Pjets

Motor Vol Hjets Water H O H2O in 2 jet Reservoir pump

Filter HNose HNose Acoustic Pendulum Image TNose Stabilized PAMB Water jet nozzles

Figure 3. Cryobot Functional Control Block Diagram.

108 Benson and others: IceCube Enhanced Hot Water Drill

C.2. Current Drilling Systems

Probe Concept Probe Name Dimensions: d x l Mass (kg) Thermal Tether (Y/N) Passive (Melt Active (Water Max Depth (m) Velocity (m/h) Environment Ice References

(m) Power (kW) only):Fig. 3. Y/NTOS structure and tower,Jet: drillWJcable orreel, Drill:return water reels,and drill supply hose reel. (Vacuum: V or Temperature D) Atmosphere: A) (K) reintroduced into the system as a source of make-up water. film on all internal wetted surfaces and in the borehole APL-UW Ice d: 0.07 NA 1.25 Y Y Although this could provide up to 15% of the required7 water column. In 2retrospect,the project shouldAhave opted 258 Winebrenner, D.P., 2013 Diver make-up water,the additional work to maintain the for stainless coils for both heat exchangers to avoid the iron collection system and neutralize the condensate seemed to oxide accumulation. outweigh the benefit. Other means of disposal would be Downstream of the MHP buildings,the heated water was EnEx Ice Mole 0.15x0.9 60 3.9 Y N considered in the future.Drill 10 routed back to the1.1HPP to combine the flows intoA a simple NA Dachwald, B., 2014, 17 Redundant levels of safety were implemented on the manifold;measure the pressure,flow and temperature;and heaters. Heater output temperature was instrumented with finally direct the water to the TOS via a long insulated IceCube Weight stack: 24 Cable spool: 45000; 4700 Y N three levels of safety devicesWJ (thermocouple monitored2500by 64 mm inner diameter83 (i.d.) ethylene propyleneA diene NA (Antarctic Benson, T., 2014 Drill stack: 525 control system; local thermostat and thermocouple; over- monomer (EPDM) rubber surface hose. surface: 240) temperature switch),and flow with two levels (turbine flow meter monitored by control system;local differential pres- Tower operations site (TOS) surface equipment VALKYRIE 2.8x0.25 NA 5 (surface Y N sure switch across heater).WJNote that the flow and tempera-30 (Figs 3 and 4) 0.9 A NA Stone, W.C., 2014 ture devices work in conjunction with each other,since a The primary function of the TOS during deep drilling was to laser) satisfied flow is required to transport heated water past the deliver hose and cable to the hole at an appropriate rate for temperature sensors. creating the desired hole shape. With the hose and cable The primary heater coils were schedule 80 steel pipe. deployed to 2500Stonem, andthere others:was Towards118 kN anof opticallyequipment poweredload, cryobot 3 APL-UW Ice Diver Dachwald andEnEx others: IceMole Ice Mole These corroded,resulting in build-up of a muddy iron17 oxideIeCubebut only 29 kN of downward load exerted on the drill tower VALKYRIE

Fig. 6. Deployment of the IceMole 1 prototype on Morteratsch- gletscher in 2010.

The penetration velocity in each of the tests was only 1 0.3 m h because of the still suboptimal matching ⇠ between drive and melting power. IceMole 2 Between 2010 and 2012, a second IceMole prototype, IceMole 2, was developed at FH Aachen University of Applied Sciences (Fig. 10; Table 1). (1) (2) IceMole(3) 2 had a more sophisticated heater control (4) system, with 12 separately controllable heating cartridges Fig. 4.in theTOS parabolicallysurface and shapeddownhole meltingequipment. head and eight side-wall Fig. 5. IceMole 1 assembly view. heaters. Both updates were intended to improve the probe’s maneuverability and support its curve-melting capabilities. Fig. 2. VALKYRIE field test set-up. IceMole 2 weighed less than IceMole 1 and contained an (3) Benson, T., Cherwinka, J., Duvernois, M., Elcheikh, A., Feyzi, F., Greenler, L., Haugen, J.,attitude Karle, and position A., determination Mulligan, system. TheM., melting Paulos, R. (2014). IceCube Enhanced Hot Water Drill functional description, doi: 1 velocity was increased to 1mh . ⇠ 10.3189/2014AoG68A032 105, Annals of Glaciology 55(68), 107 external optical waveguide? Will there be unacceptable the following layer structure: 400 mm core diameter, 440 mm power losses over a 3–4 km penetration distance? Will the outer diameter (OD) cladding and 480 mm OD polyimide (2) DACHWALD, B., MIKUCKI, J.,TULACZYK, S., DIGEL, I.,ESPE,Table 1.C.,FELDMANN,Technical data for the different IceMole M., probes FRANCKE, G., KOWALSKI, J., XUI, C. (2014). IceMole:bending a maneuverable of the fiber to create probe an on-board for spoolerclean on in the situ coatinganalysis (for and the preventionsampling of of water subsurface intrusion). Theice and (4) STONE, W.C., HOGAN, B., SIEGEL, V.,LELIEVRE, S., FLESHER, C. (2104), ProgressIceMole 1 towards IceMolean 2optically powered EnEx-IceMole cryobot, doi: 10.3189/vehicle201 exacerbate4AoG65A200, power losses? Annals of Glaciologycomposite 55(65) fiber had a numerical aperture (NA) of 0.22. High-power fiber transmission tests were conducted by For these high-power tests we used an IPG 20kW Cross section 15 cm 15 cm 15 cm 15 cm 15 cm 15 cm (1) Winebrenner, D.P., Elam, W.T., Miller, V., Carpenter, M. A. (2013), THERMAL⇥ ICE-MELT PROBE⇥ FOR EXPLORATION⇥ OF EARTH-ANALOGS TO MARS, EUROPA AND ENCELADUS, 44th Lunar and Planetary Science Shape of melting head complanate parabolic complanate Stone Aerospace (SAS) engineers in July 2010. The optical multimode fiber laser (1070 nm, model No. YLS-20000). Max. heating power for melting head 4 800 W 12 200 W (8 200 W) (8 160 W) 5 ⇥ ⇥ ⇥ á ⇥ waveguide was a custom-made silica fiber 1050 m in length The laser was calibrated, using a collimator and a Primes Max. heating power for side-wall heaters N/A 8 300 W 8 1000 W Conference (2013), http://www.lpi.usra.edu/meetings/lpsc2013/pdf/29 ⇥ ⇥ (partial coverage with const. heat distr.) (full coverage with linear heat distr.) with a core diameter of 400 mm, which was spooled onto a calorimeter, from 40 W to 20 kW prior to testing through the Max. power for forward melting 3.2 kW 2.4 kW 2.9 kW water-cooled polyethylene tray of 1 m diameter (Fig. 4). The optical waveguide. Figure 5 shows the experiment archi- Max. power for curve driving 1.6 kW 1.8 kW 5.0 kW 1 1 1 Max. penetration velocity 0.3 m h 1.0 m h 1.1 m h ⇠ ⇠ ⇠ spool diameter was chosen because it exceeds the theoret- tecture. Connection of modular high-power laser elements Length (without ice screw) 0.9 m 1.2 m 2.0 m Length of ice screw 7 cm 8.5 cm 6 cm ical threshold for significant power loss due to fiber-bending requires the use of special connectors in which the fiber is Ice-screw driving power 25 W 25 W 25 W effects. The power transmission fiber, specified by SAS and terminated into a fused quartz block within a water-cooled Mass 30 kg 25 kg 60 kg ⇠ ⇠ ⇠ Max. pressure 1 bar 5 bar 5 bar manufactured by Polymicro, consisted of a multimode step housing. Two connectors can be joined within a beam Bus system SPI CAN CAN, Ethernet Communications to surface power-line modem power-line modem Ethernet and power-line modem index pure silica core with fluorine-doped cladding. It had coupler (Fig. 6), which contains internal optics that expand, 1 1 1 Max. data rate to surface 19.2 kbit s 19.2 kbit s 1000 Mbit s collimate and align the beam with the adjacent connector Attitude and position determination system no simple advanced Decontamination and sampling system no no yes optics. The coupler housing is also water-cooled and Obstacle and target detection system no no yes contains several sensor interlocks that enable automated Field tests Morteratschgletscher Morteratschgletscher 2012, Morteratschgletscher 2013, 2010 Hofsjo¨kull 2012 Canada Glacier 2013 shutdown of the laser if the coupler overheats. These Longest channel made 5m 8m 25 m ⇠ ⇠ ⇠ Min. curve radius 10 m N/A 10 m interlocks are required because the power levels are ⇠ ⇠ sufficient to initiate a fiber ‘fuse’ in the event of a thermal Notes: N/A = not applicable. Max. power for curve driving = (0.5 max. heating power) for melting head + (0.25 max. heating power) for side-wall heaters. ⇥ ⇥

Fig. 3. Mission duration as a function of input power for a 0.25 m Fig. 4. Preparing 1050 m of fiber for the initial high-power diameter cryobot. transmission test. D. Cryobot and Related Test Facilities Developments at JPL

Heritage Projects that would benefit from utilizing the EPIC test facility when available

The thumbnail images on this slide are shown in full size at the end of the slide deck 6 E. The Cryobot/Hot Water Drilling Family Tree

CHIRPS (2001) PhilberthDEEP SOUNDIN G : TECHNIQUES 65 Probe (1968) COLDTech CHAMP SESAME HEATED M RESERVOIR SUSI (at DLR EnEx Ice Mole (2016) (2018) 108 Benson and others: IceCube Enhanced Hot Water Drill UPPER HOT POINT i ü Testlab) (2014) Dachwald and others: IceMole 17 (2006)

COIL SECTION

Fig. 6. Deployment of the IceMole 1 prototype on Morteratsch- gletscher in 2010.

The penetration velocity in each of the tests was only 1 0.3 m h because of the still suboptimal matching ⇠ APL-UW Ice between drive and melting power. IceMole 2 Fig. 3. TOS structure and tower,drill cable reel,return water reels,and drill supply hoseBetweenreel. 2010 and 2012, a second IceMole prototype, Atelier IceMole 2, was developed at FH Aachen University of Applied Sciences (Fig. 10; Table 1). IceMole 2 had a more sophisticated heater control Diver (2013) system, with 12 separately controllable heating cartridges reintroduced into the system as a source of make-up water. film on all internal wetted surfaces and in the borehole in the parabolically shaped melting head and eight side-wall (2017) INSTRUMENTATION heaters. Both updates were intended to improve the probe’s SECTION Although this could provide up to 15%Fig. 5. IceMoleof the 1 assemblyrequired view. water column. In retrospect,the project should have opted maneuverability and support its curve-melting capabilities. make-up water,the additional work to maintain the for stainless coilsIceMolefor 2both weighedheat less thanexchangers IceMole 1 andto containedavoid anthe iron collection system and neutralize the condensate seemed to oxide accumulation.attitude and position determination system. The melting 1 velocity was increased to 1mh . ⇠ outweigh the benefit. Other means of disposal would be Downstream of the MHP buildings,the heated water was Science Payload considered in the future. routed back to the HPP to combine the flows into a simple (submersible) Table 1. Technical data for the different IceMole probes Conceptual Design Redundant levels of safety were implemented on the manifold;measure the pressure,flow and temperature;and heaters. Heater output temperature was instrumented with finallyIceMole 1direct the water IceMole 2to the TOS via EnEx-IceMolea long insulated Comm Electronics (C&DH three levels of safety devices (thermocouple monitored by 64 mm inner diameter (i.d.) ethylene propylene diene (5 pucks) Cross section 15 cm 15 cm 15 cm 15 cm 15 cm 15 cm ⇥ ⇥ ⇥ and Nav) control system; local thermostat and thermocouple;Shape of melting headover- monomer complanate(EPDM) rubber parabolicsurface hose.7 KW complanateMain + 1 KW Nose Power Sources Max. heating power for melting head 4 800 W 12 200 W (8 200 W)th(8 160 W) th ⇥ ⇥ ⇥ á ⇥ Max. heating power for side-wall heaters N/A 8 300 W 8 1000 W temperature switch),and flow with two levels (turbine flow ⇥ ⇥ Tower operations(partial coverage withsite const.(TOS) heat distr.)surface (full coverage withequipment linear heat distr.) meter monitored by control system;localMax. powerdifferential for forward meltingpres- 3.2 kW 2.4 kW 2.9 kW CBE Mass CBE Power Max. power for curve driving 1.6 kW 1.8 kWIce 5.0 kWProbe (Figs 31 and 4) 1 1 sure switch across heater). Note that theMax.flow penetrationand velocitytempera- 0.3 m h 1.0 m h 1.1 m h (Kg) (W ) ⇠ ⇠ ⇠ Length (without ice screw) 0.9 m 1.2 m 2.0 m e LOWER ture devices work in conjunction withLengtheach of iceother, screwsince a The 7 cmprimary function 8.5 cmof the TOS during deep 6 cm drilling was to MOT satisfied flow is required to transport heatedIce-screw drivingwater powerpast the deliver 25 Whose and cable 25 Wto the holeTotalat an Probeappropriate 25 W rate for 210.8 597.6 POINT Mass 30 kg 25 kg 60 kg ⇠ ⇠ ⇠ temperature sensors. Max. pressureIeCubecreating 1 barthe desired 5 barhole shape. With the 5 bar hose and cable Bus system SPI CANNavigation CAN, Ethernet 4.59 11.4 Power The primary heater coils were scheduleCommunications80 tosteel surfacepipe. power-linedeployed modemto 2500 power-linem,there modemwas 118 EthernetkN andof power-lineequipment modem load, Max. data rate to surface 19.2 kbit s 1 19.2 kbit s 1 1000 Mbit s 1 (New Microsphere C&DH 1.50 10.0 These corroded,resulting in build-up ofAttitudea muddy and positioniron determinationoxide systembut noonly 29 kN of downward simpleload exerted advancedon the drill tower Drill and Jet Radioisotope Based Thermoelectric Decontamination and sampling system no no yes THE PHILBERTH PROBE THE PENDULUM PROBE Obstacle and target detection(2014) system no noPower yes 33.26 4.0 (Shaving bit with Generator) Field tests Morteratschgletscher Morteratschgletscher 2012, Morteratschgletscher 2013, 2010 Hofsjo¨kull 2012 Canada Glacier 2013 water jets) Longest channel made 5m 8m Telecommunication25 m 5.55 30.0 ⇠ ⇠ ⇠ Min. curve radius 10 m N/A 10 m FIG. 1. The probes have a length to diameter ratio of about 25:1. Their power levels ⇠ ⇠ Notes: N/A = not applicable. Max. power for curve driving = (0.5 max. heating power) for melting head + (0.25 max.Drilling heating power) / for Water side-wall heaters. Jet 16.00 400.0 range from 5 to 15 kw for penetration rates from 2-5 to 5 m/hr. ⇥ ⇥ With newly developed pellet thermal source Submarine payload 26.70 27.2 Structure 112.00 5.0 Thermal 11.20 110.0 J-NEXT Margin (%)* 41 29 4 m CHROWE *Mass margin calculated against 335 Kg landed mass allocation for Europa Lander Class DDL *Power margin based on 836 W EOL (9 years)

Power (GPHS based) (2018) Hot Water Drill 1978-1979) With existing GPHS thermal source 19

Fig. 4. TOS surface and downhole equipment. VALKYRIE Stone and others: Towards an optically powered cryobot (2014) 3

• Personnel from effort involved in effort that the arrow is pointing at • Stronger heritage connection • Weaker heritage connection • Mutual inspiration 7

Fig. 2. VALKYRIE field test set-up.

external optical waveguide? Will there be unacceptable the following layer structure: 400 mm core diameter, 440 mm power losses over a 3–4 km penetration distance? Will the outer diameter (OD) cladding and 480 mm OD polyimide bending of the fiber to create an on-board spooler on the coating (for the prevention of water intrusion). The vehicle exacerbate power losses? composite fiber had a numerical aperture (NA) of 0.22. High-power fiber transmission tests were conducted by For these high-power tests we used an IPG 20kW Stone Aerospace (SAS) engineers in July 2010. The optical multimode fiber laser (1070 nm, model No. YLS-20000). waveguide was a custom-made silica fiber 1050 m in length The laser was calibrated, using a collimator and a Primes with a core diameter of 400 mm, which was spooled onto a calorimeter, from 40 W to 20 kW prior to testing through the water-cooled polyethylene tray of 1 m diameter (Fig. 4). The optical waveguide. Figure 5 shows the experiment archi- spool diameter was chosen because it exceeds the theoret- tecture. Connection of modular high-power laser elements ical threshold for significant power loss due to fiber-bending requires the use of special connectors in which the fiber is effects. The power transmission fiber, specified by SAS and terminated into a fused quartz block within a water-cooled manufactured by Polymicro, consisted of a multimode step housing. Two connectors can be joined within a beam index pure silica core with fluorine-doped cladding. It had coupler (Fig. 6), which contains internal optics that expand, collimate and align the beam with the adjacent connector optics. The coupler housing is also water-cooled and contains several sensor interlocks that enable automated shutdown of the laser if the coupler overheats. These interlocks are required because the power levels are sufficient to initiate a fiber ‘fuse’ in the event of a thermal

Fig. 3. Mission duration as a function of input power for a 0.25 m Fig. 4. Preparing 1050 m of fiber for the initial high-power diameter cryobot. transmission test. F. Schedule Connections SESAME 2018, CHROWE, and EPIC SESAME (2018) 2018/2019 2022 24 months + 2 months final report EPIC $2 M Funding provided: NASA

Funding required: TBD

Funding provided: JPL

Potential funding: JPL

2020 2022 J-NEXT CHROWE 24 months (2018) ~$2 M 2018/2019 2025 9 m 12 months 24 months 36 months 48 months 60 months 6 m $1 M $5 M $5 M $5 M $5 M $5 M Acceleration Concept Project (6 months) (9 months) (60 months)

Time (year) 8 2019 2020 2021 2022 2023 2024 2025 For Further Details

9 ROSES 2106 - COLDTech Cryo-Hydro Autonomous Melt Probe System (CHAMP) ROSES: Research Opportunities in Space and Earth Sciences COLDTech: Concepts for Ocean worlds Life Detection Technology PI: Jean Pierre Fleurial; Funding: NASA; Duration: 2 years, 2018 – 2019. NOT SELECTED, BUT GIVEN VERY POSITIVE FEEDBACK

Summary; Key extracts The objective of the CHAMP was to develop and demonstrate an untethered autonomous scientific melt probe with an on-board nuclear power source that enabled scientific exploration of >10 km thick ice sheets down to the ice/ocean interface. The CHAMP would be self-contained probe, carrying a full suite of sensors, on- board computing/control, and in situ science instrument suite. The communication link for science and engineering telemetry back to the surface would be achieved through the use of discrete self-powered ice transceiver “pucks”. The CHAMP development represented several technology gaps, the most challenging of which was identifying a suitable power source, and technical risks, in terms of flight system integration and deployment of new technology. By selecting the existing proven multi-mission radioisotope thermoelectric generator (MMRTG) system as the design point of departure, it would be possible to develop a new enabling ocean world exploration capability, the Cryo-Hydro Autonomous Melt Probe System (CHAMPS), which would be highly reliable and ROSEStolerant 2016 of the large uncertainties in ice thickness. COLDTECH PROGRAM NRA NNH16ZDA001N CRYO-HYDRO AUTONOMOUS MELT PROBE SYSTEM CHAMP Concept Year 1 Year 2 Tasks D J F M A M J J A S O N D J F M A M J J A S O N The ROSES 2106 - Develop Test Plan test plan COLDTECH schedule was Predict CHAMPS Ice Penetration Performance full model set for 22 months. Key Develop performance model and prediction initial performance prediction cryogenic vacuum ice milestones are shown as testbed validation Validate model prediction in cryogenic vacuum ice testbed diamonds. Red Develop CHAMPS Design thermal system design diamonds at the 12- Design thermal system and model performance transceiver T/M design month mark are Go/No- Develop thermal/mechanical ice transceiver design ConOps development Go gates. Develop Concept of Operations development (ConOps) Validate CHAMPS Thermal System Performance HTS design Design full scale Hardware Thermal Simulator (HTS) HTS Fabrication & assembly Fabricate and assemble HTS

Demonstrate HTS Performance in ice testbed HTS ice testbed validation Write Final Report and Follow-on Technology Maturation Plan Figure 1-7. 22-month CHAMPS schedule. 10 The Year 1 milestones are: – Month 3: Test Plan and initial ice penetration performance model – Month 6: Design and performance model for the thermal system – Month 9: Detailed ice penetration performance model prediction – Month 10: Thermal/mechanical ice transceiver design based on mW RTG technology – Month 11: Initial CHAMPS thermal and mechanical design – Month 12: Ice penetration performance model validation using subscale probe testing inside of a cryogenic/vacuum ice testbed (Go/No Go Gate) – Month 12: Detailed analysis of eMMRTG environment through ConOps to ensure meeting all thermal, mechanical and logistical operational requirements (Go/No Go Gate) The Year 2 milestones are: – Month 13: Electrically heated eMMRTG thermal emulator design – Month 15: Full scale CHAMPS Hardware Thermal Simulator (HTS) final design – Month 18: Fabrication/assembly of CHAMPS HTS – Month 21: Initial performance validation of CHAMPS thermal systems using ice testbed – Month 22: Final report with follow-on plan for RTG-based melt-probe technology maturation and technology demonstration 1.6.2 Management Structure Dr. Jean-Pierre Fleurial of JPL is the PI of the proposed investigation. He is solely responsible for the quality and direction of the proposed research and the proper use of all awarded funds. He is also responsible for all technical, management, and budget issues and is the final authority for this task. The Co-Is report to and take direction from the PI and will provide all the management data needed to ensure that he can effectively manage the entire task. The team members have a unique combination of skills that are needed to successfully complete the proposed task and towards infusing the technology into a future NASA mission. Dr. Lee Peterson, assisted by Mr. Aaron Mitchell, will be responsible for developing a comprehensive ice penetration model prediction and Dr. Hendricks will support experimental validation efforts in a cryogenic/vacuum ice testbed. Mr. Dave Woerner will be responsible for CHAMPS design efforts and will have support of Mr. Otting (Concept of Operations, with collaboration from Dr. Cairns-Gallimore) and Mr. Bryant (ice transceivers). Dr. Hendricks will be responsible for development, fabrication and testing of a thermal/mechanical CHAMPS simulator to verify thermal systems performance, with support from Mr. Otting.

1-15 Use or disclosure of information contained on this sheet is subject to the restriction on the Cover Page of this proposal. EPIC Extreme Pressure Ice Chamber

PI: TBD; Funding: JPL (2 mill) ; Duration: 2 years. No funding provided.

Summary; Key Extracts The Extreme Pressure Ice Chamber (EPIC), a combined vacuum and hyperbaric test chamber, has the potential of playing an essential role in developing technologies, science, instruments, and operational approaches for the exploration of “Ocean Worlds,” such as Europa, Enceladus, and Titan. No such test facility exist today. The EPIC will make it possible to physically simulate all phases of a subsurface Ocean Worlds’ mission, ranging from: Initial penetration into the ice sheet: Pressure: ~10-12 atm. (Europa surface) and temperature: 90-100K [vacuum chamber], to deep exploration into the ice, the ice-water interface, and the ocean below: Pressure: > 120 atm. (similar to 10 km Europa ice thickness) and temperature: 200-270K [hyperbaric chamber]. Already at 3-5 km ice temperature is above 200K. EPIC will be a able to support in the development and testing of technologies, such as landers; transceiver pucks; ice penetrators/cryobots and/or hydrobots, whether subliming, melting, drilling, water jetting, tethered, swimming, or any combination of these technologies, to explore the ice column and the oceans below to search for extraterrestrial life. EPIC will accommodate full-scale and to-scale experiments, and be fully instrumented to measure key parameters inside and outside the technology (e.g. probe) to be tested

The EPIC test chamber concept developed by NASA JPL, together with Southwest Research Institute, SWRI: Combined (Vac + would stand 10.72 m tall and have an inner Hyperbaric Chamber): diameter of 0.9144 m. The ice column in the Concept and Dimensions chamber would be 7.62 m high. A wall thickness of 5.1 cm would be required to contain a 120 atm pressure. Estimated mass of the EPIC is 27 tons. This includes water/ice, metal cylinder, supporting structures, stairs, insulation, piping, etc. EPIC will be fully instrumented to measure key parameters, such as penetration speed, pressure in ice, water pocket, ice density, ice temperature, etc.

11 Atelier Cryobot

PI: Tom Cwik; Funding: JPL (NA); Duration: Start 6/2017, on-going

Summary/Key Extracts The objective of the “Atelier” effort was, through detailed trade space studies, to develop a technology architecture defining a system that would access an icy moon’s ocean. To specifically bound the architecture, Jupiter’s moon Europa was chosen as the target body. The current understanding of the scientific properties of the ice crust and ocean was used to guide the development. A strawman scientific payload was devised to further develop a baseline set of requirements. Beginning with a launch and trajectory that can bring a system to Europa’s orbit, a complete trade space was developed outlining the engineering systems needed to access the ocean. The launch system and trajectory provided a bound for the amount of mass that would be available to Europa’s surface. The architecture was divided into specific phases for i) deorbit, descent and landing, ii) surface operations, iii) ice descent and iv) ocean access. The needed functions for each phase were then identified with potential options for each sub-system evaluated. The technical maturity of each of these sub-systems was assessed for systems that could be developed to a maturity ready for a preliminary design in 5-10 years. Integrated system parameters on power, communication capacity, and mass were developed to further define the overall system. To constrain the design, a total time in the ice, from the ice crust surface to accessing the ocean was limited to two years, and 10Km of ice was baselined with a temperature profile through the ice estimated from the scientific literature. A complete system was defined for a system that can access the ocean after two years of travel through the baseline 10Km of ice. Models with a range of fidelity are being developed to bring additional prediction to the effort.

Atelier Cryobot Concept • Low level support for SESAME 2018 • Low level support for Science Payload and CHROWE SESAME 2018 andConceptual Design CHROWE (submersible) • expected to continue Report and Model Comm Electronics (C&DH (5 pucks) provided and Nav) 7 KWth Main + 1 KWth Nose Power Sources CBE Mass CBE Power Ice Probe (Kg) (We) Total Probe 210.8 597.6

Navigation 4.59 11.4 Power C&DH 1.50 10.0 (New Microsphere Drill and Jet Radioisotope Based Thermoelectric Power 33.26 4.0 (Shaving bit with Generator) water jets) Telecommunication 5.55 30.0 6/2017 5/2019 TBD/2025Drilling / Water Jet 16.00 400.0 With newly developed pellet thermal source 12 Submarine payload 26.70 27.2 Structure 112.00 5.0 Thermal 11.20 110.0 Margin (%)* 41 29 4 m *Mass margin calculated against 335 Kg landed mass allocation for Europa Lander Class DDL *Power margin based on 836 W EOL (9 years)

Power (GPHS based)

With existing GPHS thermal source 19 ROSES: Research Opportunities in ROSES 2018 - SESAME Space and Earth Sciences Cryobot for Ocean Worlds Exploration SESAME: Scientific Exploration Subsurface Access Mechanism for PI: Tom Cwik, Tom Zachny; Funding: NASA ( 1 mill/year); Duration: 2 years, 2019 - 2020 Europa

Summary/Key Extracts The JPL Cryobot architecture outlines a feasible system design for descending through a 15 km European crust in three years to facilitate the detection of the evidence of life in its ocean. A complete Cryobot architecture consisting of Cryobot head, power system, thermal management system, hazard detection and navigation system and communications will be described, before focusing on the specific systems that will be developed under the SESAME task. Key to this development is a validated Cryobot Descent Simulator that will be a fundamental design tool for the Cryobot. Based on a design principle to feasibly integrate redundant capabilities that will mitigate unknown environmental risks, this architecture is conceptualized with the form, fit and function that can be infused into a flight mission that will access the ocean. University of Washington will supply an existing cryobot for lab and in-the-field testing). The team consists of: Honeybee Robotics’, the University of Washington’s (UW), the University of Aachen’s and JPL’. The proposed work outlines the technology path that can reach the beginning of mission design in a decade. This includes developing a trade space of power sources and Cryobot size that minimizes mission duration. The proposed work outlines a field campaign in warm terrestrial ice, complementing the lab cryo-ice experiments. The proposed field campaign on the Devon glacier provides validation of the Cryobot Descent Simulator in conditions similar to the warm deep European crust.

2019 2020 2021 JUN PRODUCT APR MAY JUN JUL AUG SEP NOV DEC JAN FEB MAR APR MAY JUN JUL AUG SEP NOV DEC JAN FEB MAR APR MAY The SESAME 2018 – SESAME will run

Publications over two years, with a final report due, CRYOBOT Concept February 2022. Milestones Laboratory and field test will be

1 – System Architecture System Trades and Definition Configuration conducted. Focus for the lab tests will Architecture and Down-Select Closure on the drilling, water jetting, and 2 – Proof of Descent Simulator Development Multi Model melting. Two lab tests are planned at Concept Correlation Static Model Dynamic Model UW. The first one at the end of 3 - C-Head TRL-3 Development TRL-3 Tests November, 2018., and the second one, TRL4 Prototype TRL-4 Development TRL-4 Tests in the middle of November, 2020. Devon Island Devon Island 4 - Field Tests 50-m Field Test 100-m Field Test LEGEND: Devon Island field tests are scheduled JPL for May to September, 2019 (50 m RTG & Thermal 5 – TRL2 Enabling TRL2 Concept UW Definitions Technologies HD&A & Puck System Honeybee depth) and 2020 (100 m depth) 13 Pre-Decisional Information – For Planning and Discussion Purposes Only J-NEXT Cryo-Hydro Robot for Ocean Worlds Exploration (CHROWE)

PI: J-P Fleurial; Funding: JPL (1 mill for concept phase, 5 mill/year in project phase); Duration: 6 months (acceleration), 9 months (concept), <60 months (project)

Summary/Key Extracts The CHROWE effort objective is to develop an overarching mission concept for Ocean Worlds access, identifying key trades and technologies for accelerating the landing and deployment of an ice-penetrating cryobot into the timeframe of 15 to 20 years in the future. A system for delivering an autonomous, undersea explorer at the ice/ocean interface, and the undersea explorer itself will be included. The penetration systems, with its science payload, will be powered using on-board, General Purpose Heat Sources (GPHS) that enable efficient penetration and scientific sampling of >5 km thick icy crusts. The CHROWE concept employs a self-contained probe, carrying a full suite of sensors to autonomously conduct in situ science. The communication link for science and engineering telemetry back to the surface is nominally achieved through the use of self-powered ice transceiver “pucks”. The proposed JPL NEXT development of CHROWE addresses several technology gaps, especially identifying and accommodating a suitable power source and its attendant risk in flight system integration and deployment of new technology. An Ocean World mission concept that is highly reliable and tolerant of the large uncertainties in ice thickness and properties will be developed as part of the effort. A mission infusion plan will be developed with the help of our DOE/Idaho National Laboratory partner that will entail a detailed Concept of Operations (ConOps) to inform a practical system implementation from Cryobot assembly and fueling to launch, cruise, landing, ice penetration, and ocean exploration. Recently completed efforts will be refined to develop comprehensive, detailed models of ice- penetration that use multi-physics, finite element analyses to identify the optimal shape and aspect ratio of the CHROWE, its heat distribution, its descent rate, and the consequent ice penetration duration. The JPL NEXT CHROWE team will consist of primarily NASA/JPL, DOE/INL, Universities of Washington and Aachen and Honeybee Robotics and Aerojet Rocketdyne.

If successful the CROWE will go through the CHROWE Concept Acceleration following phases: (1) [6 months] Acceleration phase Phase (6 months) to develop an idea into a concept. The review will Concept Phase take place on May 22, 2109. (2) [9 months] Concept (9 months) phase to develop the concept. Success criteria, draft

Project Phase requirements, lifecycle plan, team, transition (60 months) partner(s), and off- ramps to be defined . (3) [<60 years, to 2025] Project phase to “execute technology build.” Key decision points to authorize continuation have to be met, and off-ramp products 5/2019 TBD/2020 TBD/2025 have to be delivered to transition partners. 14 Pre-Decisional Information – For Planning and Discussion Purposes Only jpl.nasa.gov