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Advances in GNC, particularly from miniaturized control electronics,reaction-wheels and attitude determination sensors make it possible to designsurface probes and small robots to perform surface exploration and science onlow-gravity environments. These robots would use their reaction wheels to roll,hop and tumble over rugged surfaces. These robots could provide 'GoogleStreetview' quality images of off-world surfaces and perform some uniquescience using penetrometers. These systems can be powered by high-efficiencyfuel cells that operate at 60-65 % and utilize hydrogen and oxygen electrolyzedfrom water. However, one of the major challenges that prevent these probes androbots from performing long duration surface exploration and science is thermaldesign and control. In the inner solar system, during the day time, there isoften enough solar-insolation to keep these robots warm and power thesedevices, but during eclipse the temperatures falls well below storagetemperature. We have developed a thermal control system that utilizes chemicalsto store and dispense heat when needed. The system takes waste products, suchas water from these robots and transfers them to a thermochemical storagesystem. These thermochemical storage systems when mixed with water (a wasteproduct from a PEM fuel cell) releases heat. Under eclipse, the heat from thethermochemical storage system is released to keep the probe warm enough tosurvive. In sunlight, solar photovoltaics are used to electrolyze the water andreheat the thermochemical storage system to release the water. Our research hasshowed thermochemical storage systems are a feasible solution for use onsurface probes and robots for applications on the Moon, Mars and asteroids.

Combined Thermal Control and GNC: An Enabling Technology for CubeSat Surface Probes and Small Robots