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Because of the cost of sending fuel and re-entry equipment into space, most robotic space probes are designed to do experiments "on site" after landing on a planey or moon.

One exception is the NASA "Stardust" mission launched in 1999. The space craft was launched into a solar orbit that would repeatedly pass near Earth. It was steered into a close encounter with the comet Wild-2 in 2004. Samples from the comet's coma (as well as others from interplanetary space) were returned to Earth by an ejected capsule during a flyby in January, 2006. The craft again passed Earth in January, 2009, enroute to a new photographic mission to the comet Tempel-1 in February, 2011. (Tempel-1 was rammed by the probe Deep Impact in 2005.)

The particles captured by Stardust are still being analyzed from the aerogel material returned to Earth.

(see mission site at related link)

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