Richard P. Wesenberg

The COR1 inner coronagraph for STEREO-SECCHI

The Solar Terrestrial Relations Observatory (STEREO) is a pair of identical satellites that will orbit the Sun so as to drift ahead of and behind Earth respectively, to give a stereo view of the Sun. STEREO is currently scheduled for launch in November 2005. One of the instrument packages that will be flown on each of the STEREO spacecrafts is the Sun Earth Connection Coronal and Heliospheric Investigation (SECCHI), which consists of an extreme ultraviolet imager, two coronagraphs, and two side-viewing heliospheric imagers to observe solar coronal mass ejections all the way from the Sun to Earth. We report here on the inner coronagraph, labeled COR1. COR1 is a classic Lyot internally occulting refractive coronagraph, adapted for the first time to be used in space. The field of view is from 1.3 to 4 solar radii. A linear polarizer is used to suppress scattered light, and to extract the polarized brightness signal from the solar corona. The optical scattering performance of the coronagraph was first modeled using both the ASAP and APART numerical modeling codes, and then tested at the Vacuum Tunnel Facility at the National Center for Atmospheric Research in Boulder, Colorado. In this report, we will focus on the COR1 optical design, the predicted optical performance, and the observed performance in the lab. We will also discuss the mechanical and thermal design, and the cleanliness requirements needed to achieve the optical performance.

Tetrahedral Robotics for Space Exploration

A reconfigurable space filling robotic architecture has a wide range of possible applications. One of the more intriguing possibilities is mobility in very irregular and otherwise impassable terrain. NASA Goddard Space Flight Center is developing the third generation of its addressable reconfigurable technology (ART) tetrahedral robotics architecture. An ART-based variable geometry truss consisting of 12 tetrahedral elements made from 26 smart struts on a wireless network has been developed. The primary goal of this development is the demonstration of a new kind of robotic mobility that can provide access and articulation that complement existing capabilities. An initial set of gaits and other behaviors are being tested, and accommodations for payloads such as sensor and telemetry packages are being studied. Herein, we describe our experience with the ART tetrahedral robotics architecture and the improvements implemented in the third generation of this technology. Applications of these robots to space exploration and the tradeoffs involved with this architecture will be discussed.

Earth-Affecting Solar Causes Observatory (EASCO): A mission at the Sun-Earth L5

Coronal mass ejections (CMEs) and corotating interaction regions (CIRs) as well as their source regions are important because of their space weather consequences. The current understanding of CMEs primarily comes from the Solar and Heliospheric Observatory (SOHO) and the Solar Terrestrial Relations Observatory (STEREO) missions, but these missions lacked some key measurements: STEREO did not have a magnetograph; SOHO did not have in-situ magnetometer. SOHO and other imagers such as the Solar Mass Ejection Imager (SMEI) located on the Sun-Earth line are also not well-suited to measure Earth-directed CMEs. The Earth-Affecting Solar Causes Observatory (EASCO) is a proposed mission to be located at the Sun-Earth L5 that overcomes these deficiencies. The mission concept was recently studied at the Mission Design Laboratory (MDL), NASA Goddard Space Flight Center, to see how the mission can be implemented. The study found that the scientific payload (seven remote-sensing and three in-situ instruments) can be readily accommodated and can be launched using an intermediate size vehicle; a hybrid propulsion system consisting of a Xenon ion thruster and hydrazine has been found to be adequate to place the payload at L5. Following a 2-year transfer time, a 4-year operation is considered around the next solar maximum in 2025.

Mobile science platforms for impassable terrain

Some of the most scientifically interesting terrain is among the most inaccessible, presenting problems for all mobility strategies. Lava flows, for example, can have structure at all scale sizes rendering traversal via appendage or wheel difficult at best. NASA researchers have been developing an innovative mechanical structure that provides mobility in terrain unnavigable by wheeled or even legged vehicles. We are developing a mobile science platform (MSP) that is completely symmetric, with neither top nor bottom, so that it cannot fall down and fail to get up. The MSP actively navigates its environment to place its payload or gathers samples in places otherwise unreachable, e.g., the lunar highlands or rugged volcanic terrains on Mars

Extreme Mobility: Next Generation Tetrahedral Rovers

This paper describes the development and testing of a patented rover concept called Tetrahedral Explorer Technologies (TET), designed to provide extreme mobility and plug‐and‐play utility through reconfigurable addressable architecture. Here, we present the results of preliminary lab and field tests of Prototype III. Reconfigurable architecture is essential in exploration because reaching features of the great potential interest will require crossing a wide range of terrains largely inaccessible to permanently appendaged vehicles. One surface might be relatively flat and navigable, while another could be rough, variably sloping, broken, or dominated by unconsolidated debris. To be totally functional, structures must form pseudo‐appendages varying in size, rate, and manner of deployment (gait) and moving at a speed approaching that of a human in rugged terrain. TET architecture is based on the tetrahedron, the basic space‐filling shape, as building block. Tetrahedra are interconnected, their apices acting as nodes from which struts reversibly deploy. The tetrahedral framework acts as a simple skeletal muscular structure. Two simple robotic walker prototypes have already been developed from a single reconfigurable tetrahedron capable of tumbling. This paper presents the results of our attempts to simulate motions, improve the hardware, and develop gaits for a more evolved 12Tetrahedral Walker (Prototype 3) which high degrees of freedom locomotion commandable through a user friendly interface. Our rover is an early level mission concept, realized as an electromechanical system at present, which would allow autonomous in situ exploration of lunar sites when we return to the Moon. Such a rover could carry into inaccessible terrain an in situ analysis payload designed to provide not only details of composition of traversed terrain, but the identification of sites with resources useful for permanent bases, including water and high Ti glass.