Open Access

The exploration of icy environments in the solar system, such as the poles of Mars and the icy moons (a.k.a. ocean worlds), is a key aspect for understanding their astrobiological potential as well as for extraterrestrial resource inspection. On these worlds, ice melting probes are considered to be well suited for the robotic clean execution of such missions. In this chapter, we describe ice melting probes and their applications, the physics of ice melting and how the melting behavior can be modeled and simulated numerically, the challenges for ice melting, and the required key technologies to deal with those challenges. We also give an overview of existing ice melting probes and report some results and lessons learned from laboratory and field tests.

The powerful avalanche simulation toolbox RAMMS (Rapid Mass Movements) is based on a depth-averaged hydrodynamic system of equations with a Voellmy-Salm friction relation. The two empirical friction parameters μ and  correspond to a dry Coulomb friction and a viscous resistance, respectively. Although μ and lack a proper physical explanation, 60 years of acquired avalanche data in the Swiss Alps made a systematic calibration possible. RAMMS can therefore successfully model avalanche flow depth, velocities, impact pressure and run out distances. Pudasaini and Hutter (2003) have proposed extended, rigorously derived model equations that account for local curvature and twist. A coordinate transformation into a reference system, applied to the actual mountain topography of the natural avalanche path, is performed. The local curvature and the twist of the avalanche path induce an additional term in the overburden pressure. This leads to a modification of the Coulomb friction, the free-surface pressure gradient, the pressure induced by the channel, and the gravity components along and normal to the curved and twisted reference surface. This eventually guides the flow dynamics and deposits of avalanches. In the present study, we investigate the influence of curvature on avalanche flow in real mountain terrain. Simulations of real avalanche paths are performed and compared for the different models approaches. An algorithm to calculate curvature in real terrain is introduced in RAMMS. This leads to a curvature dependent friction relation in an extended version of the Voellmy-Salm model equations. Our analysis provides yet another step in interpreting the physical meaning and significance of the friction parameters used in the RAMMS computational environment.

There is significant interest in sampling subglacial environments for geochemical and microbiological studies, yet those environments are typically difficult to access. Existing ice-drilling technologies make it cumbersome to maintain microbiologically clean access for sample acquisition and environmental stewardship of potentially fragile subglacial aquatic ecosystems. With the "IceMole", a minimally invasive, maneuverable subsurface ice probe, we have developed a clean glacial exploration technology for in-situ analysis and sampling of glacial ice and sub- and englacial materials. Its design is based on combining melting and mechanical stabilization, using an ice screw at the tip of the melting head to maintain firm contact between the melting head and the ice. The IceMole can change its melting direction by differential heating of the melting head and optional side wall heaters. Downward, horizontal and upward melting, as well as curve driving and penetration of particulate-ladden layers has already been demonstrated in several field tests. This maneuverability of the IceMole also necessitates a sophisticated on-board navigation system, capable of autonomous operations. Therefore, between 2012 and 2014, a more advanced probe was developed as part of the "Enceladus Explorer" (EnEx) project. The EnEx-IceMole offers systems for accurate positioning, based on in-ice attitude determination, acoustic positioning, ultrasonic obstacle and target detection, which is all integrated through a high-level sensor fusion algorithm. In December 2014, the EnEx-IceMole was used for clean access into a unique subglacial aquatic environment at Blood Falls, Antarctica, where an englacial brine sample was successfully obtained after about 17 meters of oblique melting. Particular attention was paid to clean protocols for sampling for geochemical and microbiological analysis. In this contribution, we will describe the general technological approach of the IceMole and report on the results of its deployment at Blood Falls. In contrast to conventional melting-probe applications, which can only melt vertically, the IceMole realized an oblique melting path to penetrate the englacial conduit. Experimental and numerical results on melting at oblique angles are rare. Besides reporting on the IceMole technology and the field deployment itself, we will compare and discuss the observed melting behavior with re-analysis results in the context of a recently developed numerical model. Finally, we will present our first steps in utilizing the model to infer on the ambient cryo-environment.