PRIME: "Probe using Radioisotopes for Icy Moons Exploration" - A Comprehensive Cryobot Architecture for Accessing Europa's Ocean

We present a system-level design of a planetary probe, or "cryobot" that uses the waste heat from an onboard radioisotope to melt through tens of kilometers of Europa's icy crust to access its ocean below. Our cryobot architecture can deliver a 30-liter instrument suite to the ocean in 2 - 6 years, depending on the ice shell thickness. Our holistic design integrates three core technical subsystems: mobility, thermal management, and communications, each of which is designed for the full range of possible ice environments the probe may encounter.