Multimodal Locomotion Enabling Ocean Worlds Science Operations

Multimodal Locomotion Enabling Ocean Worlds Science Operations Science goals and objectives: The primary objective of this proposal is to explore the manner in which mobile, multi-site science operations can be made feasible on ocean worlds. This proposal will, using a science-driven, field test campaign approach: 1) Determine the necessary adaptations of existing Mars surface operations models when applied to ocean worlds. 2) Uncover the unique robotic mobility challenges of ocean worlds, including an investigation of multimodal mobility(walk, drive, inchworm, and paddle). 3) Increase the technology readiness level of a novel geological instrument through field testing. We propose to develop a strategy for ocean worlds’ science operations by coupling past operational experience and new technologies. Field test campaigns will enable further validation of a novel instrument (Lab On A Chip), which can be used for the detection and analysis of salts and organics in icy regoliths. These tests will provide an avenue for improving its technology readiness through in-situ field-testing. The proposal will be a first-of-a-kind effort aimed at understanding the feasibility of reaching high value science targets on ocean worlds as a function of mobility. This task will be accomplished by a unique partnership between ocean worlds’ planetary scientists, the Army's cold regions science and engineering experts (CRREL), Mars surface science operators, terrain mechanics researchers, science instrument developers, academic partners, and robotic mobility engineers. Methodology: To achieve the above objectives, this proposal will integrate the Lab On A Chip instrument with Robosimian; a highly mobile and adaptive robotic system. The methodology employed will be: 1) Walking, inchworming, driving, and paddling mobility gaits will be implemented on Robosimian. 2) The Lab on A Chip instrument will be integrated with the vehicle, enabling mobile science measurements. 3) Science-driven operational scenarios will be will be determined with emphasis on high value geologic targets found on the varied terrains of ocean worlds. 4) Analog sites will be selected that satisfy both relevant terrain-mechanical properties and chosen operational scenarios. 5) Data pertaining mobility and instrument performance, vision, navigation, and sample acquisition will be recorded during multiple field tests and documented. 6) A baseline operational strategy for the use of mobile robotic systems that enable ocean worlds’ science will be developed. Analog Site Selection Methodology: The selection of an analog site will be based on the results of geotechnical tests currently underway as part of an STMD funded study. These results will yield an understanding of the range of mechanical characteristics of ice regoliths. Such insight will uniquely position this proposal to select the optimal analog site at which to test mobile science operations. Only by testing on such a terrain is it possible to obtain results that can reliably offer insight to future flight missions. Relevance to the Call: This proposal is relevant to both Science Operations and Technology. For science operations, the proposed work will be informative for decision making protocols, traverse planning, and navigation unique to science support. For technology, the proposed work is particularly relevant to sample acquisition, the use of mobile science platforms, and techniques for autonomous operations. The proposed work will yield important information as to the challenges of reaching scientifically interesting locations and the operational techniques that may be employed to do so.

Developing Instrument or spacecraft technology to improve measurements for future planetary science missions

This is a mature technology (TRL 7+) — the realistic path in is usually NASA's Technology Transfer Program: licensing an existing NASA patent, or a Space Act Agreement to use NASA facilities/expertise directly. NASA also runs a startup licensing program with no upfront fee for companies formed to commercialize a specific NASA technology.

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