The research project describes the key mission and systems engineering trade-offs involved in the end-to-end design of an orbiting mission to the Moon, using a "Smaller, Faster, Cheaper" mission approach. This approach is extended to enable the design of a new payload - within the management, cost, schedule, and physical constraints - of the low cost lunar orbiter mission. The payload is designed to image the Moon's permanently dark regions that are believed to contain water ice. To determine the best cost reduction management and engineering approach, the principles for reducing space mission cost are examined and planetary missions are assessed in terms of cost and risk drivers. 'Interplanetary' trajectories and attaining orbit around another body are shown to be the major risk areas encountered by traditional planetary missions. In addition to this, programme management is highlighted as an emerging high risk area for smaller, faster cheaper planetary missions. The preliminary mission design, covering lunar transfer, spacecraft and ground station is described. A 400 kg, three-axis stabilised, lunar orbiter, capable of delivering 20 kg of payload into a low lunar polar orbit is designed. The ground segment comprises one (possibly two) low cost ground stations, linked via the Internet. Images, raw data and telemetry can also be accessed via the Internet. The design-to-launch timeframe spans three years and the total mission cost target of $20 Million is met. The spacecraft is compatible with a range of existing lunar payloads, but the prime mission requirement will be to return images of the Moon's permanently dark craters for the first time. In order to design a low cost payload for imaging the Moon's permanently dark regions, the areas likely to contain the water ice are first characterised. The best and worst case lighting conditions for imaging are then calculated for these regions. The amount of light reaching a crater floor is a function of the crater depth-diameter ratio, solar irradiance incidence angle and local topography. The limiting case is shown to be imaging under starlight illumination only, which is modelled and estimated between 5 to 10µW/m2 over the 350 to 900 nm spectral band. These ultra-low light level conditions have led to identification and evaluation of several solutions in terms of both signal-tonoise ratio performance and development within the constraints of the smaller, faster, cheaper programme. This is achieved using a charge coupled device (CCD) camera employing a commercial sensor and optics. Large format Charge Injection Devices and Complimentary Metal Oxide Semiconductors (Active Pixel Devices) were identified as promising emerging technologies. The baseline low light level imager solution is a CCD array operated in Time Delay Integration mode in order to provide optical images from areas within permanent shadow. An intensified CCD offers a back up solution. The research demonstrates that a low cost lunar mission is technically feasible and additionally, that it is possible to meet a specific (if modest) application target through `smaller, faster, cheaper' payload design. It provides an approach that meets key challenges of planetary exploration at very low cost that can potentially be applied to other near Earth targets.

Missions for planetary exploration are unique opportunities to provide very meaningful and high-valuable data about the analysed celestial bodies. These missions can characterize many aspects of them, thanks to the different remote sensing instruments included in their science payload. However, the observations in this context are influenced by complex constraints (e.g., limited resources, environment characteristics) and limitations, thus limiting the availability of acquisition opportunities. Hence, an accurate planning and scheduling of the acquisition operations by the science payload instruments of a Planetary Exploration mission is a crucial task in the mission design. This requires the development of automatic methodologies to aid this delicate phase, which are capable of considering all the different constraints, the science requirements and the characteristics of the instruments in order to produce feasible observation schedules that are optimized with respect to the acquisition quality. In this context, this thesis provides two main contributions related to: i) the analysis and the scheduling of the acquisitions by a single instrument and ii) the extension of the study to the simultaneous scheduling of the observations by multiple instruments. The first novel contribution presents a methodology for the automatic scheduling of the acquisition operations of a single instrument for planetary exploration missions. The presented methodology is based on 2 main phases and it uses a multi-objective optimization technique to produce an acquisition schedule, optimized with respect to the scientific requirements and the characteristics of the considered sensor and the mission constraints. The second contribution addresses the complexity of automatically generating and harmonizing observation schedules for multiple instruments simultaneously. The proposed method models the problem as a bilevel optimization task. At the lower level the acquisition schedule for each sensor is produced and evaluated, considering all the instrument-related requirements and limitations. At the upper level the harmonization of the individual sensor schedules is performed, considering all the mission- and resource-related constraints and maximizing the overall quality and science return. The proposed methods have been applied considering in detail the operations of radar sounder instruments. In particular, the first methodology has been tested on the observations by RIME, radar sounder of the JUICE mission and the second considered RIME and three other instruments of the same missions. The obtained results show the effectiveness of the proposed techniques, which aim at increasing the level of automation in the data acquisition planning and scheduling phase in Planetary Exploration missions.

In this thesis, an integrated flow sensor for an optogalvanic spectrometer is studied. Optogalvanic spectroscopy can be used for carbon isotope analysis when, e.g., searching life in space. At the heart of the spectrometer is a microplasma source, in which the analysis is performed. This master thesis examines the possibilities to integrate a flow sensor inside the microplasma source, to be able to improve the isotopic analysis. The report covers design, manufacturing and evaluation of both the device and the experimental setup. The device was manufactured by milling and lamination of printed circuit board, in which both the plasma source and sensors were incorporated. The final results shows that the sensor had a linear and reliable flow response in a range between 1-15 sccm, and, quite surprisingly, that is simultaneously could measure the pressure in a range between 1-6 Torr. In other words, not only one but two sensors were integrated in the spectrometer at once. The work has been done at the Ångström Space Technology Center - a research group within the Department of Engineering Science at Uppsala University.

Radar sounders (RS) are low frequency remote sensing instruments that profile the shallow subsurface of planetary bodies providing valuable scientific information. The prediction of the RS performance and the interpretation of the target properties from the RS data are challenging due to the complex electromagnetic interaction between many acquisition variables. RS simulations address this issue by forward modeling this complex interaction and simulating the radar response. However, existing simulators require detailed and subjective modeling of the target in order to produce realistic radargrams. For less-explored planetary bodies, such information is difficult to obtain with high accuracy. Moreover, the high computational requirements of conventional electromagnetic simulators prohibit the simulation of a large number of radargrams. Thus, it is not possible to generate and analyze a database of simulated radargrams representative of the acquisition scenario that would be very useful for both the RS design and the data analysis phase. To overcome these difficulties and to produce realistic simulated radargrams, this thesis proposes two novel approaches to the simulation and analysis of the radar response. The first contribution is a simulation approach that leverages the data available over geological analogs of the investigated target and reprocesses them to obtain the simulated radargrams. The second contribution is a systematic approach to the generation and analysis of a database of simulated radargrams representing the possible scenarios during the RS acquisition. The database is analyzed to predict the RS performance, to design the instrument parameters, and to support the development of automatic target detection algorithms. To demonstrate the proposed techniques the thesis addresses their use in two future RS instruments, which are at different phases of development: (1) the Radar for Icy Moons Exploration (RIME) and (2) a RS for Earth observation of the polar ice caps. The first contribution focuses on the analysis of the detectability of complex tectonic targets on the icy moons of Jupiter by RIME by simulating the radar response of 3D target models. The second contribution presents a feasibility study for an Earth orbiting RS based on the proposed simulation approaches.

Of all of the bodies in the solar system, Europa is perhaps the most enticing. Based on several lines of evidence, Europa, a moon of Jupiter, is believed to have an ocean of liquid water beneath several kilometers of ice. This ocean is likely in contact with Europa's rocky core, making Europa's ocean one of the most likely places for life to exist in the solar system outside of Earth. This thesis provides an outline of the technology required for a mission that travels to Europa, penetrates the ice, and explores the ocean below. In order to create this outline, this thesis first provides background on previous missions to the outer planets. A discussion of the science requirements is presented and then a value system by which designs are evaluated is developed. Current technologies and the design alternatives are presented and evaluated using the value system. A final mission architecture and concept of operations are then presented. / Master of Science

This Ph.D. thesis presents advancements in the analysis of radar sounder data. Radar sounders (RSs) are remote sensors that transmit an electromagnetic (EM) wave at the nadir direction that penetrates the subsurface. The backscattered echoes captured by the RS antenna are coherently summed to generate an image of the subsurface profile known as a radargram. The first focus of this work is to automate the segmentation of radargrams using deep learning methodologies while minimizing the need for labeled training data. The surge in radar sounding data volume necessitates efficient automated methods. However, the amount of training labeled data in this field is strongly limited. This first work introduces a transfer learning framework based on deep learning tailored for radar sounder data that minimizes the training data requirements. This method automatically identifies and segments geological units within radargrams acquired in the cryosphere. With the cryosphere being a critical indicator of climate change, understanding its dynamics is paramount. Geological details within radargrams, such as the basal interface or the inland and floating ice, are key to this understanding. Our work shifts the focus to uncharted territory: the coastal areas of Antarctica. Novel targets such as floating ice and crevasses add complexity to the data, but the transfer learning framework minimizes the need for extensive labeled training data. The results, based on data from Antarctica, confirm the effectiveness of the approach, promising adaptability to other targets and radar data from existing and future planetary missions like RIME and SRS. The second focus of this thesis explores the generation of novel and improved geological data products by harnessing the unique characteristics of radar sounder data, including subsurface information and so-called “unwanted” clutter. The thesis introduces two methods that use RS data to generate geological products. The first contribution proposes a global high-frequency radar image of Mars. This product delivers a novel, comprehensive global radar image of Mars, capturing both surface and shallow subsurface structures. The method unlocks the potential to explore concealed Martian geology and further understand Martian geological features like dust, revealing possible candidate large dust deposits that were unknown until now. Furthermore, this method can potentially offer insights into celestial bodies beyond Mars, such as the detection of new lunar facets and Venusian geological formations. The third contribution aims to generate Digital Elevation Models (DEM) from single swath radargrams. The activity addresses the challenge of precise bed DEM estimations in Antarctica. Bed topography is critical in ice modeling and mass balance calculations, yet existing methods face limitations. To overcome these, we employ a generative adversarial network (GAN) approach that utilizes clutter information from single radargrams. This innovative technique promises to refine bed DEMs and enhance our understanding of glacier erosion and ice dynamics. The proposed methodologies were validated with data acquired on both Earth and Mars, showing promising results and confirming their effectiveness.

Most current space robotics vehicles use solar energy as their prime energy source. In spherical robotic vehicles the use of solar cells is very restricted. Focusing on the particular problem, an improved method to generate electrical power will be developed; the innovation is the use of an internal pendulum-generator mechanism to generate electrical power while the ball is rolling. This concept will enable spherical robots on future long-duration planetary exploration missions. Through a developed proof-of-concept prototype, inspired by the Russian thistle plant, or tumbleweed, this thesis will demonstrate power generation capabilities of such a mechanism. Furthermore, it will also present and validate a parametric analytical model that can be used in future developments as a design tool to quantify power and define design parameters. The same model was used to define the design parameters and power generation capabilities of such a system in Martian environment.

Most current space robotics vehicles use solar energy as their prime energy source. In spherical robotic vehicles the use of solar cells is very restricted. Focusing on the particular problem, an improved method to generate electrical power will be developed; the innovation is the use of an internal pendulum-generator mechanism to generate electrical power while the ball is rolling. This concept will enable spherical robots on future long-duration planetary exploration missions. Through a developed proof-of-concept prototype, inspired by the Russian thistle plant, or tumbleweed, this thesis will demonstrate power generation capabilities of such a mechanism. Furthermore, it will also present and validate a parametric analytical model that can be used in future developments as a design tool to quantify power and define design parameters. The same model was used to define the design parameters and power generation capabilities of such a system in Martian environment.

abstract: In-situ exploration of planetary bodies such as Mars or the Moon have provided geologists and planetary scientists a detailed understanding of how these bodies formed and evolved. In-situ exploration has aided in the quest for water and life-supporting chemicals. In-situ exploration of Mars carried out by large SUV-sized rovers that travel long distance, carry sophisticated onboard laboratories to perform soil analysis and sample collection. But their large size and mobility method prevents them from accessing or exploring extreme environments, particularly caves, canyons, cliffs and craters. This work presents sub- 2 kg ball robots that can roll and hop in low gravity environments. These robots are low-cost enabling for one or more to be deployed in the field. These small robots can be deployed from a larger rover or lander and complement their capabilities by performing scouting and identifying potential targets of interest. Their small size and ball shape allow them to tumble freely, preventing them from getting stuck. Hopping enables the robot to overcome obstacles larger than the size of the robot. The proposed ball-robot design consists of a spherical core with two hemispherical shells with grouser which act as wheels for small movements. These robots have two cameras for stereovision which can be used for localization. Inertial Measurement Unit (IMU) and wheel encoder are used for dead reckoning. Communication is performed using Zigbee radio. This enables communication between a robot and a lander/rover or for inter-robot communication. The robots have been designed to have a payload with a 300 gram capacity. These may include chemical analysis sensors, spectrometers and other small sensors. The performance of the robot has been evaluated in a laboratory environment using Low-gravity Offset and Motion Assistance Simulation System (LOMASS). An evaluation was done to understand the effect of grouser height and grouser separation angle on the performance of the robot in different terrains. The experiments show with higher grouser height and optimal separation angle the power requirement increases but an increase in average robot speed and traction is also observed. The robot was observed to perform hops of approximately 20 cm in simulated lunar condition. Based on theoretical calculations, the robot would be able to perform 208 hops with single charge and will operate for 35 minutes. The study will be extended to operate multiple robots in a network to perform exploration. Their small size and cost makes it possible to deploy dozens in a region of interest. Multiple ball robots can cooperatively perform unique in-situ science measurements and analyze a larger surface area than a single robot alone on a planet surface. / Dissertation/Thesis / Masters Thesis Mechanical Engineering 2016

No / The first Raman spectrometers to be used for in situ analysis of planetary material will be launched as part of powerful, rover-based analytical laboratories within the next 6 years. There are a number of significant challenges associated with building spectrometers for space applications, including limited volume, power and mass budgets, the need to operate in harsh environments and the need to operate independently and intelligently for long periods of time (due to communication limitations). Here, we give an overview of the technical capabilities of the Raman instruments planned for future planetary missions and give a review of the preparatory work being pursued to ensure that such instruments are operated successfully and optimally. This includes analysis of extremophile samples containing pigments associated with biological processes, synthetic materials which incorporate biological material within a mineral matrix, planetary analogues containing low levels of reduced carbon and samples coated with desert varnish that incorporate both geo-markers and biomarkers. We discuss the scientific importance of each sample type and the challenges using portable/flight-prototype instrumentation. We also report on technical development work undertaken to enable the next generation of Raman instruments to reach higher levels of sensitivity and operational efficiency.