The Deployment of Scientific Packages to Asteroid Surfaces

A strategy for the deployment of landers to asteroid surfaces is described. The landing pods are scientific packages with no guidance, navigation and control system, and no specific landing apparatus, so as to minimize onboard platform and maximize payload. The landers are jettisoned from a main spacecraft at high altitude over the target. They impact its surface, bouncing multiple times before finally coming to rest. The amended gravity field of an asteroid is described in general and regions favorable to a deployment are found close to saddle equilibrium points. For elongated bodies and for binary systems, a linearization shows that a branch of the unstable manifold intersects the surface of the body; the strategy then consists of choosing initial conditions that will express this branch. For quasi-axisymmetric bodies, the initial velocity of the lander is increased to guarantee an impact. The efficacy of the strategy is numerically verified. A model of the asteroid surface and of the interaction between the pod and this surface is detailed. The asteroid surface is represented with three layers. The asteroid is first modeled using a mesh of triangular facets that can represent its global shape down to the presence of large boulders (greater than 1m). The presence of smaller rocks is accounted for via a stochastic model that generates random collisions with rocks, at impact with the surface or during lasting contact motion (rolling). Finally the interaction with the regolith is handled with a model of contact dynamics, including surface forces and torques (reaction, friction and rolling resistance). The rolling resistance force and torques experienced on regolith are defined and justified. Their coefficients are measured by experiments and explained by theory and finite-element simulations. Practical mission case studies are presented and discussed, for asteroid Itokawa, 1999 JU3, 1999 KW4 Alpha and Beta

Soil to Sail - Asteroid Landers on Near-Term Sailcraft as an Evolution of the GOSSAMER Small Spacecraft Solar Sail Concept for In-Situ Characterization

Any effort which intends to physically interact with specific asteroids requires understanding at least of the composition and multi-scale structure of the surface layers, sometimes also of the interior. Therefore, it is necessary first to characterize each target object sufficiently by a precursor mission to design the mission which then interacts with the object. In small solar system body (SSSB) science missions, this trend towards landing and sample-return missions is most apparent. It also has led to much interest in MASCOT-like landing modules and instrument carriers. They integrate at the instrument level to their mothership and by their size are compatible even with small interplanetary missions. The DLR-ESTEC GOSSAMER Roadmap NEA Science Working Groups‘ studies identified Multiple NEA Rendezvous (MNR) as one of the space science missions only feasible with solar sail propulsion. The parallel Solar Polar Orbiter (SPO) study showed the ability to access any inclination and a wide range of heliocentric distances. It used a separable payload module conducting the SPO mission after delivery by sail to the proper orbit. The Displaced L1 (DL1), spaceweather early warning mission study, outlined a very lightweight sailcraft operating close to Earth, where all objects of interest to planetary defence must pass. These and many other studies outline the unique capability of solar sails to provide access to all SSSB, at least within the orbit of Jupiter. Since the original MNR study, significant progress has been made to explore the performance envelope of near-term solar sails for multiple NEA rendezvous. However, although it is comparatively easy for solar sails to reach and rendezvous with objects in any inclination and in the complete range of semi-major axis and eccentricity relevant to NEOs and PHOs, it remains notoriously difficult for sailcraft to interact physically with a SSSB target object as e.g. the HAYABUSA missions do. The German Aerospace Center, DLR, recently brought the GOSSAMER solar sail deployment technology to qualification status in the GOSSAMER-1 project and continues the development of closely related technologies for very large deployable membrane-based photovoltaic arrays in the GOSOLAR project, on which we report separately. We expand the philosophy of the GOSSAMER solar sail concept of efficient multiple sub-spacecraft integration to also include landers for one-way in-situ investigations and sample-return missions. These are equally useful for planetary defence scenarios, SSSB science and NEO utilization. We outline the technological concept used to complete such missions and the synergetic integration and operation of sail and lander. We similarly extend the philosophy of MASCOT and use its characteristic features as well as the concept of Constraints-Driven Engineering for a wider range of operations. For example, the MASCOT Mobility hopping mechanism has already been adapted to the specific needs of MASCOT2. Utilizing sensors as well as predictions, those actuators could in a further development be used to implement anti-bouncing control schemes, by counteracting with the lander‘s rotation. Furthermore by introducing sudden jerk into the lander by utilization of the mobility, layers of loose regolith can be swirled up for sampling

Wheel-regolith interactions on small-body surfaces

We conduct experiments using a single-wheel testbed and simulations using the Soft-Sphere Discrete Element Method to study wheel-regolith interactions on small-body surfaces. We analyze wheel sinkage and traction on different surface materials and we discuss the influence that lowgravity has on rover maneuverability

Rolling resistance of a spherical pod on a granular bed

The motion of a spherical ball rolling without slipping or plowing on a granular bed is studied. We propose a definition of the rolling resistance force and torque, and carry out experiments with a basketball and medicine ball rolling on a bed of gravel to measure the corresponding rolling resistance coefficients. These experiments reveal, in good agreement with literature, coefficients that are velocity-independent, and show that little to no plowing of the spheres into the granular substrate occurs. This indicates a regime of motion distinctly different from those treated in previous works. A simplified model correctly predicts the velocity independence and suggests an inverse dependence of the rolling resistance coefficient on the reduced inertia of the ball. These predictions match the experimentally observed behavior. Numerical simulations based on soft-sphere DEM shed more light on the mechanics of energy dissipation that occur in this no-plowing regime, and reveal a mass dependency that is not captured by the model. Our results provide insight into an unstudied regime of motion, and are of interest to the mission design of spacecraft to explore the surfaces of asteroids and comets

The influence of gravity on granular impacts II. A gravity-scaled collision model for slow interactions

Slow interactions on small body surfaces occur both naturally and through human intervention. The resettling of grains and boulders following a cratering event, as well as observations made during small body missions, can provide clues regarding the material properties and the physical evolution of a surface. In order to analyze such events, it is necessary to understand how gravity influences granular behavior. In this work, we study slow impacts into granular materials for different collision velocities and gravity levels. Our objectives are to develop a model that describes penetration depth in terms of the dimensionless Froude number and to use this model to understand the relationship between collision behavior, collision velocity, and gravity. We use the soft-sphere discrete element method to simulate impacts into glass beads under gravitational accelerations ranging from 9.81 m/s^2 to 0.001 m/s^2. We quantify collision behavior using the peak acceleration, the penetration depth, and the collision duration of the projectile, and we compare the collision behavior for impacts within a Froude number range of 0 to 10. The measured penetration depth and collision duration for low-velocity collisions are comparable when the impact parameters are scaled by the Froude number, and the presented model predicts the collision behavior well within the tested Froude number range. If the impact Froude number is low (0 < Fr < 1.5), the collision occurs in a regime that is dominated by a depth-dependent quasi-static friction force. If the impact Froude number is high enough (1.5 < Fr < 10), the collision enters a second regime that is dominated by inertial drag. The presented collision model can be used to constrain the properties of a granular surface material using the penetration depth measurement from a single impact event. If the projectile size, the collision velocity, the gravity level, and the final penetration depth are known and the material density is estimated, then the internal friction angle of the material can be deduced

Soil to Sail - Asteroid Landers on Near-Term Sailcraft as an Evolution of the GOSSAMER Small Spacecraft Solar Sail Concept for In-Situ Characterization

Any effort which intends to physically interact with specific asteroids requires understanding at least of the composition and multi-scale structure of the surface layers, sometimes also of the interior. Therefore, it is necessary first to characterize each target object sufficiently by a precursor mission to design the mission which then interacts with the object. In small solar system body (SSSB) science missions, this trend towards landing and sample-return missions is most apparent. It also has led to much interest in MASCOT-like landing modules and instrument carriers. They integrate at the instrument level to their mothership and by their size are compatible even with small interplanetary missions. The DLR-ESTEC GOSSAMER Roadmap NEA Science Working Groups‘ studies identified Multiple NEA Rendezvous (MNR) as one of the space science missions only feasible with solar sail propulsion. The parallel Solar Polar Orbiter (SPO) study showed the ability to access any inclination and a wide range of heliocentric distances. It used a separable payload module conducting the SPO mission after delivery by sail to the proper orbit. The Displaced L1 (DL1), spaceweather early warning mission study, outlined a very lightweight sailcraft operating close to Earth, where all objects of interest to planetary defence must pass. These and many other studies outline the unique capability of solar sails to provide access to all SSSB, at least within the orbit of Jupiter. Since the original MNR study, significant progress has been made to explore the performance envelope of near-term solar sails for multiple NEA rendezvous. However, although it is comparatively easy for solar sails to reach and rendezvous with objects in any inclination and in the complete range of semi-major axis and eccentricity relevant to NEOs and PHOs, it remains notoriously difficult for sailcraft to interact physically with a SSSB target object as e.g. the HAYABUSA missions do. The German Aerospace Center, DLR, recently brought the GOSSAMER solar sail deployment technology to qualification status in the GOSSAMER-1 project and continues the development of closely related technologies for very large deployable membrane-based photovoltaic arrays in the GOSOLAR project, on which we report separately. We expand the philosophy of the GOSSAMER solar sail concept of efficient multiple sub-spacecraft integration to also include landers for one-way in-situ investigations and sample-return missions. These are equally useful for planetary defence scenarios, SSSB science and NEO utilization. We outline the technological concept used to complete such missions and the synergetic integration and operation of sail and lander. We similarly extend the philosophy of MASCOT and use its characteristic features as well as the concept of Constraints-Driven Engineering for a wider range of operations. For example, the MASCOT Mobility hopping mechanism has already been adapted to the specific needs of MASCOT2. Utilizing sensors as well as predictions, those actuators could in a further development be used to implement anti-bouncing control schemes, by counteracting with the lander‘s rotation. Furthermore by introducing sudden jerk into the lander by utilization of the mobility, layers of loose regolith can be swirled up for sampling

Mobility on the Surface of Phobos for the MMX Rover - Simulation-aided Movement planning

The MMX Rover, recently named IDEFIX, will be the first wheeled robotic system to be operated in a milli-g environment. The mobility in this environment, particularly in combination with the interrupted communication schedule and the activation of on-board autonomous functions such as attitude control requires efficient planning. The Mobility Group within the MMX Rovers Team is tasked with proposing optimal solutions to move the rover safely and efficiently to its destination so that it may achieve its scientific goals. These movements combine various commands to the locomotion system and to the navigation systems developed by both institutions. In the mission's early phase, these actions will rely heavily on manual driving commands to the locomotion system until the rover behavior and environment assumptions are confirmed. Planning safe and efficient rover movements is a multi-step process. This paper focuses on the challenges and limitations in sequencing movements for a Rover on Phobos in the context of the MMX Mission. The context in which this process takes place is described in terms of available data and operational constraints

Relevance of Phobos in-situ science for understanding asteroids

The origin of the martian moons, Phobos and Deimos is under debate since a very long time. There exist arguments and counter arguments that they may be captured asteroids. Other models favor, e.g., a massive impact at Mars as their origin [1]. The Martian Moons eXploration (MMX) mission by the Japan Aerospace Exploration Agency, JAXA, is going to explore both Martian moons remotely, but also return samples from Phobos, and deliver a small Rover to its surface [2,3]. This rover, provided by CNES and DLR, with contributions from INTA and the University of Tokyo has a payload of four scientific instruments, analyzing the physical, dynamical and mineralogical properties of Phobos´ surface. Parallels to asteroids of a similar size are eminent and the results will help deciphering the origin of Phobos [4]

Small Spacecraft Based Multiple Near-Earth Asteroid Rendezvous and Landing with Near-Term Solar Sails and ‘Now-Term‘ Technologies

Physical interaction with small solar system bodies (SSSB) is the next step in planetary science, planetary in-situ resource utilization (ISRU), and planetary defense (PD). It requires a broader understanding of the surface properties of the target objects, with particular interest focused on those near Earth. Knowledge of composition, multi-scale surface structure, thermal response, and interior structure is required to design, validate and operate missions addressing these three fields. The current level of understanding is occasionally simplified into the phrase, ”If you’ve seen one asteroid, you’ve seen one asteroid”, meaning that the in-situ characterization of SSSBs has yet to cross the threshold towards a robust and stable scheme of classification. This would enable generic features in spacecraft design, particularly for ISRU and science missions. Currently, it is necessary to characterize any potential target object sufficiently by a dedicated pre-cursor mission to design the mission which then interacts with the object in a complex fashion. To open up strategic approaches, much broader in-depth characterization of potential target objects would be highly desirable. In SSSB science missions, MASCOT-like nano-landers and instrument carriers which integrate at the instrument level to their mothership have met interest. By its size, MASCOT is compatible with small interplanetary missions. The DLR-ESTEC Gossamer Roadmap Science Working Groups‘ studies identified Multiple Near-Earth asteroid (NEA) Rendezvous (MNR) as one of the space science missions only feasible with solar sail propulsion. The Solar Polar Orbiter (SPO) study showed the ability to access any inclination, theDisplaced-L1 (DL1) mission operates close to Earth, where objects of interest to PD and for ISRU reside. Other studies outline the unique capability of solar sails to provide access to all SSSB, at least within the orbit of Jupiter, and significant progress has been made to explore the performance envelope of near-term solar sails for MNR. However, it is difficult for sailcraft to interact physically with a SSSB. We expand and extend the philosophy of the recently qualified DLR Gossamer solar sail deployment technology using efficient multiple sub-spacecraft integration to also include landers for one-way in-situ investigations and sample-return missions by synergetic integration and operation of sail and lander. The MASCOT design concept and its characteristic features have created an ideal counterpart for thisand has already been adapted to the needs of the AIM spacecraft, former part of the NASA-ESA AIDA mission. Designing the combined spacecraft for piggy-back launch accommodation enables low-cost massively parallel access to the NEA population

Capabilities of Gossamer-1 derived small spacecraft solar sails carrying MASCOT-derived nanolanders for in-situ surveying of NEAs

Any effort which intends to physically interact with specific asteroids requires understanding at least of the composition and multi-scale structure of the surface layers, sometimes also of the interior. Therefore, it is necessary first to characterize each target object sufficiently by a precursor mission to design the mission which then interacts with the object. In small solar system body (SSSB) science missions, this trend towards landing and sample-return missions is most apparent. It also has led to much interest in MASCOT-like landing modules and instrument carriers. They integrate at the instrument level to their mothership and by their size are compatible even with small interplanetary missions. The DLR-ESTEC Gossamer Roadmap NEA Science Working Groups‘ studies identified Multiple NEA Rendezvous (MNR) as one of the space science missions only feasible with solar sail propulsion. Parallel studies of Solar Polar Orbiter (SPO) and Displaced L1 (DL1) space weather early warning missions studies outlined very lightweight sailcraft and the use of separable payload modules for operations close to Earth as well as the ability to access any inclination and a wide range of heliocentric distances. These and many other studies outline the unique capability of solar sails to provide access to all SSSB, at least within the orbit of Jupiter. Since the original MNR study, significant progress has been made to explore the performance envelope of near-term solar sails for multiple NEA rendezvous. However, although it is comparatively easy for solar sails to reach and rendezvous with objects in any inclination and in the complete range of semi-major axis and eccentricity relevant to NEOs and PHOs, it remains notoriously difficult for sailcraft to interact physically with a SSSB target object as e.g. the Hayabusa missions do. The German Aerospace Center, DLR, recently brought the Gossamer solar sail deployment technology to qualification status in the Gossamer-1 project. Development of closely related technologies is continued for very large deployable membrane-based photovoltaic arrays in the GoSolAr project. We expand the philosophy of the Gossamer solar sail concept of efficient multiple sub-spacecraft integration to also include landers for one-way in-situ investigations and sample-return missions. These are equally useful for planetary defence scenarios, SSSB science and NEO utilization. We outline the technological concept used to complete such missions and the synergetic integration and operation of sail and lander. We similarly extend the philosophy of MASCOT and use its characteristic features as well as the concept of Constraints-Driven Engineering for a wider range of operations