Experimental Validation of Cryobot Thermal Models for the Exploration of Ocean Worlds

Accessing the potentially habitable subsurface waters of Ocean Worlds requires a robotic ice probe (or "cryobot") to traverse tens of kilometers of ice with temperatures ranging from similar to 100 to 273 K. Designing and planning such a mission requires understanding ice probe behavior as a function of the local environment and design parameters. We present experimental results of two laboratory melt probes in cryogenic (79 K) and warm (253 K) ice. The melt probe tested in warm ice had multiple adjustable heaters, enabling optimization of the system's efficiency. The melt probes tested in cryogenic ice operated in vacuum and had internal tether spools, allowing for experimental confirmation of hole closure and the creation of a pressurized pocket with liquid water around the probe. These melt probes were tested at power levels ranging from 120 to 1135 W, achieving descent speeds between 5.3 and 59 cm hr(-1). By analyzing the relationship between power and speed using analytical and high-fidelity numerical models, we demonstrate progress in understanding melt probe performance. We distinguish between the previously confounding terms of probe operational inefficiency and analytical model inaccuracy, allowing us to understand the range of applicability of the analytical models and demonstrate the importance of controlling heat distribution in cryobot design. The validated models show that while numerical models may be required to describe the behavior of short probes descending in limited-size laboratory test beds, the performance of efficient cryobots designed for operation on Ocean Worlds can be predicted by analytical models within 5% error.