Asteroid Prospector is a 6U CubeSat designed to survey asteroids. It uses a Busek Ion engine to spiral out of earth orbit and rendezvous with an asteroid. It then uses its reaction control thruster system, which employ ECAPS green propellant thrusters, to perform near-asteroid operations. Here is a picture of the spacecraft in circular orbit mode.
The flight software is implemented in our ControlDeck C++ class library. Both the simulation and control software are available as part of our Aero/Astro vehicle control products.
You can see a movie of the spacecraft on our YouTube channel: http://www.youtube.com/watch?v=ZvPqwFKGRKw
We presented our Asteroid Prospector mission concept on Tuesday Aug 13th, 2013 the Small Satellites Conference in Logan, Utah in Session VI: Strength in Numbers. A copy of our paper is available here.