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The Saturnian moon Enceladus with its extensive water bodies underneath a thick ice sheet cover is a potential candidate for extraterrestrial life. Direct exploration of such extraterrestrial aquatic ecosystems requires advanced access and sampling technologies with a high level of autonomy. A new technological approach has been developed as part of the collaborative research project Enceladus Explorer (EnEx). The concept is based upon a minimally invasive melting probe called the IceMole. The force-regulated, heater-controlled IceMole is able to travel along a curved trajectory as well as upwards. Hence, it allows maneuvers which may be necessary for obstacle avoidance or target selection. Maneuverability, however, necessitates a sophisticated on-board navigation system capable of autonomous operations. The development of such a navigational system has been the focal part of the EnEx project. The original IceMole has been further developed to include relative positioning based on in-ice attitude determination, acoustic positioning, ultrasonic obstacle and target detection integrated through a high-level sensor fusion. This paper describes the EnEx technology and discusses implications for an actual extraterrestrial mission concept.
The ”IceMole“ is a novel maneuverable subsurface ice probe for clean in-situ analysis and sampling of subsurface ice and subglacial water/brine. It is developed and build at FH Aachen University of Applied Sciences’ Astronautical Laboratory. A first prototype was successfully tested on the Swiss Morteratsch glacier in 2010. Clean sampling is achieved with a hollow ice screw (as it is used in mountaineering) at the tip of the probe. Maneuverability is achieved with a differentially heated melting head. Funded by the German Space Agency (DLR), a consortium led by FH Aachen currently develops a much more advanced IceMole probe, which includes a sophisticated system for obstacle avoidance, target detection, and navigation in the ice. We intend to use this probe for taking clean samples of subglacial brine at the Blood Falls (McMurdo Dry Valleys, East Antarctica) for chemical and microbiological analysis. In our conference contribution, we 1) describe the IceMole design, 2) report the results of the field tests of the first prototype on the Morteratsch glacier, 3) discuss the probe’s potential for the clean in-situ analysis and sampling of subsurface ice and subglacial liquids, and 4) outline the way ahead in the development of this technology.
There is significant interest in sampling subglacial environments for geobiological studies, but they are 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. The IceMole is a maneuverable subsurface ice probe for clean in situ analysis and sampling of glacial ice and subglacial materials. The design is based on the novel concept of combining melting and mechanical propulsion. It can change melting direction by differential heating of the melting head and optional side-wall heaters. The first two prototypes were successfully tested between 2010 and 2012 on glaciers in Switzerland and Iceland. They demonstrated downward, horizontal and upward melting, as well as curve driving and dirt layer penetration. A more advanced probe is currently under development as part of the Enceladus Explorer (EnEx) project. It offers systems for obstacle avoidance, target detection, and navigation in ice. For the EnEx-IceMole, we will pay particular attention to clean protocols for the sampling of subglacial materials for biogeochemical analysis. We plan to use this probe for clean access into a unique subglacial aquatic environment at Blood Falls, Antarctica, with return of a subglacial brine sample.
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.
