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Cloud Ozone Dust Imager (CODI): Investigation and Technical Plan - Volume 1

The Cloud Ozone Dust Imager (CODI) is proposed to investigate the current climatic balance of the Mars atmosphere, with particular emphasis on the important but poorly understood roles which dust and water ice aerosols play in this balance. The large atmospheric heating (20-50 K) resulting from global dust storms around Mars perihelion is well recognized. However, groundbased observations of Mars atmospheric temperatures, water vapor, and clouds since the Viking missions have identified a much colder, cloudier atmosphere around Mars aphelion that may prove as important as global dust storms in determining the interannual and long-term behavior of the Mars climate. The key climate issues CODI is designed to investigate are: 1) the degree to which non-linear interactions between atmospheric dust heating, water vapor saturation, and cloud nucleation influence the seasonal and interannual variability of the Mars atmosphere, and 2) whether the strong orbital forcing of atmospheric dust loading, temperatures and water vapor saturation determines the long-term balance of Mars water, as reflected in the north-south hemispheric asymmetries of atmospheric water vapor and polar water ice abundances. The CODI experiment will measure the daily, seasonal and (potentially) interannual variability of atmospheric dust and cloud opacities, and the key physical properties of these aerosols which determine their role in the climate cycles of Mars. CODI is a small (1.2 kg), fixed pointing camera, in which four wide-angle (+/- 70 deg) lenses illuminate fixed filters and CCD arrays. Simultaneous sky/surface imaging of Mars is obtained at an angular resolution of 0.28 deg/pixel for wavelengths of 255, 336, 502, and 673 nm (similar to Hubble Space Telescope filters). These wavelengths serve to measure atmospheric ozone (255 and 336 nm), discriminate ice and dust aerosols (336 and 673 nm), and construct color images (336, 502, and 673 nm). The CODI images are detected on four 512 x 512 pixel arrays, as partitioned on two 1024 x 1024 CCD's operated in frame transfer mode. The center of the CODI field-of-view is canted 40 deg from the zenith direction to obtain sky brightness measurements and a 20 deg surface field-of-view. Daily image observations will be conducted when the Sun is greater than or equal to 5 deg outside the edge of the CODI field-of-view, and twilight and nighttime imaging will obtained on a weekly basis. The 673 nm channel includes a polarizer wheel to obtain sky/surface polarimetry. A dust cover protects the entire lens assemblies of all four CODI channels. This opaque dust cover, which is normally opened for CODI imaging, includes a small fixed mirror and transparent window positioned above the 673 nm lens, to redirect the 673 nm field-of-view to the surface for descent imaging. Fixed pointing, internal data buffering, low operating power (2-4 W for less than or equal to 30 seconds), selective data transmission, and simple operational characteristics of the CODI experiment place minimum resource and operational demands on the Mars Surveyor 1998 lander. The CODI science goals are optimized for, but not restricted to, a low-latitude landing site (20 deg S-30 deg N). The primary CODI measurement objectives are the opacities, wave forms, particle properties (size, shape, and alignment), and heights of clouds; the opacities, particle properties, and vertical distribution of dust; and the opacity and vertical distribution of ozone. The variability of cloud, ozone, and dust opacities will be determined on diurnal, daily, and seasonal timescales. Wind velocities will be determined from cloud motions and wave characteristics; and the temporal variability of atmospheric water vapor, with limited altitude information, will be inferred from the CODI ozone observations. Secondary measurement objectives include limited descent imaging capability, surface uv-visible photometry and polarimetry, photochemistry, and meteorite infall rates.

Clancy, R. Todd↗

Lander Lighting Solution to Reduce Pilot & Autonomous Approach Errors

The south pole lighting environment will have harsh low inclination sunlight, making overhead judgement of surface features difficult. Autonomous solutions are great, however, the need for visual monitoring and independent go/no-go decisions remain. Our project proposes that lunar landing systems will be better served by including a powerful landing light system that improves visibility of surfaces from overhead by illuminating the ground at critical distances for the crew to make last minute decisions regarding an approach. The project utilized computer-based optical modeling software to predict requirements for a potential landing light system. The analysis based the lamp prediction from commercially available LED chip sets and lamp optics. The goal was to illustrate a method to raise the surface contrast of a landing site within an acceptable contrast threshold for most camera systems and human observers to recognize hazards that would not be noticed with low inclination sunlight alone. The Apollo lunar landings benefitted from overhead sun or dark conditions. The surface lighting at the Lunar South Pole is a harsh environment where surfaces are lit from a low inclination angle by the sun (from the side). This change in lighting condition precipitates a need for updated lunar landing systems that facilitate improved recognition of landing sites, and thereby increase pilot awareness of landing hazards. The reliance on LIDAR and other autonomous mechanisms alone is risky given the known usage of visual monitoring for operator concurrence on current spacecraft programs and present-day autonomous land-based vehicles. Visual monitoring via cameras or windows requires the surface contrast to be within 3 orders of magnitude for reasonable recognition of objects. Artificial overhead illumination, when sufficiently sized, provides a means to even out contrast problems created by low inclination sunlight, potentially reducing piloting errors. Current vehicle requirements do not specify this type of guidance for the purpose of increasing mission success. An optical ray-trace simulation model was developed in Zemax Optics Studio to predict the best combination of LED power, LED optics, lamp quantity, and lamp location to raise the surface contrast to within 2 orders of magnitude from 3 orders required to further increased visibility and reduce risk. The project considered the following design constraints: potential base diameter of lander, approach distance(s) for a go-no-go decision point (200 meter), solar inclination angle (2-7), lunar surface reflectance (10%), LED chip sets, LED focusing optics, LED power, lamp quantity, lamp locations, and illumination diameter of lunar surface landing zone. The results can be used to establish minimum design constraints for vehicle landing light systems. With a solar inclination angle ranging from 2-7 degrees, the horizontal illumination of the lunar surface is attenuated by about 10% when compared to overhead illumination from the Sun. This modifies the sun's maximum of 130,000 lux to 13,000 lux horizontal illuminance. The artificial lighting system was designed to provide an 18-meter-wide illumination zone, to create viewing clearances around a 6-meter-wide lander. The system provides an average illuminance of 300 lux, meeting the 2 orders of magnitude criteria. The solution utilized modern Chip On Board LEDs, that each utilized 17 watts, with focusing Total Internal Reflection (TIR) lenses. A lighting system of 300 LEDs was arrayed along the "bottom" of a “lander”. With 17 watts per LED, the system is estimated to require 5100 watts. This is a large amount of power, but it would only be needed during critical phases during the landing. LED lighting systems can be dimmed, and it is assumed that as the lander arrives closer to the landing site, the lighting system power can be adjusted as needed to produce the necessary surface illuminance. The designed reduction of contrast improves reliability of safety assessments using real time visible light camera systems and out the window viewing by the crew.

T A Clark↗

Mare Imbrium lava flows and their relationship to color boundaries, part M

The Apollo 15 metric camera photography provided a number of spectacular views of most of the southern and central portions of the unique systems of major lava flows that stretch diagonally across Mare Imbrium from the general area of Euler Crater to a point east of Le Verrier Crater. A preliminary examination of the photographs indicates that the source of the material comprising the major flows is situated to the west of Euler Crater and south of the limits of the photographic coverage. The photographs also show clearly that most, if not all, the mare ridges included were formed after the solidification of the flows. Few color boundaries exist in the area of metric photography where the illumination angle is low enough to show the fronts of some of the very thin flows. However, patches of redder material lying northeast of Mt. Lahire are found to be enclosed by low flow fronts, confirming the theory that the redder material represents an earlier filling of the Imbrium basin.

Whitaker, E. A.↗

MISR Browse data (MISBR_V5)

A MISR Browse Tool is available to allow easy access to ellipsoid-derived, true-color images for each camera reduced to 2.2 km resolution. The MISR red, green and blue bands are used to create the true-color image in JPEG format. The image is intentionally clipped and gamma-stretched to make cloud, ocean and land features visible. The user may find the Browse Tool helpful before ordering data. The tool's purpose is to search and view images in the on-line user interface. However, the browse product can be ordered separately. The Browse Tool page has Orbit-to-Date and Lat/Lon-to-Path/Block conversion tools to help identify particular MISR geographic locations and data files. [Temporal_Coverage: Start_Date=2000-02-24; Stop_Date=] [Spatial_Coverage: Southernmost_Latitude=-90; Northernmost_Latitude=90; Westernmost_Longitude=-180; Easternmost_Longitude=180] [Data_Resolution: Latitude_Resolution=2.2 km; Longitude_Resolution=2.2 km; Horizontal_Resolution_Range=1 km - < 10 km or approximately .01 degree - < .09 degree; Temporal_Resolution=about 15 orbits/day; Temporal_Resolution_Range=Daily - < Weekly].

EOSDIS↗

Progress in Development of the Axel Rovers

Progress has been made in the development of a family of robotic land vehicles having modular and minimalist design features chosen to impart a combination of robustness, reliability, and versatility. These vehicles at earlier stages of development were described in two previous NASA Tech Briefs articles: "Reconfigurable Exploratory Robotic Vehicles" (NPO-20944), Vol. 25, No. 7 (July 2001), page 56; and "More About Reconfigurable Exploratory Robotic Vehicles" (NPO-30890), Vol. 33, No. 8 (August 2009), page 40. Conceived for use in exploration of the surfaces of Mars and other remote planets, these vehicles could also be adapted to terrestrial applications, including exploration of volcanic craters or other hostile terrain, military reconnaissance, inspection of hazardous sites, and searching for victims of earthquakes, landslides, avalanches, or mining accidents. In addition, simplified versions of these vehicles might be marketable as toys. The most basic module in this family of reconfigurable robots is the Axel rover, which has a cylindrical body with two main wheels and a trailing link. Inside its body are three motors and associated mechanisms for driving the two wheels and for rotating the link 360 around its symmetrical body. The actuated link serves several purposes: It is used as a lever arm to react to the wheels thrust to move Axel in multiple directions. It is used to rotate the Axel housing in order to tilt, to the desired angle, any sensors and instruments mounted on or in the Axel housing. It provides an alternative mobility mode, which is primarily used in its tethered configuration. Turn ing the link into the ground in lieu of driving the wheels causes the Axel housing and wheels to roll as a unit and thereby leads to a tumbling motion along the ground. With a tether mounted around Axel s cylindrical body, the link serves as a winch mechanism to reel and unreel the tether raising and lowering Axel over steep and vertical surfaces (Figure 1). Sensors, computation, and communication modules are also housed inside Axel s body. A pair of stereo vision cameras provides three-dimensional view for autonomous navigation and avoiding obstacles. Inertial sensors determine the tilt of the robot and are used for estimating its motion. In a fully developed version, power would be supplied by rechargeable batteries aboard Axel; at the time of reporting the information for this article, power was supplied from an external source via a cable. In and of itself, the Axel rover is fully capable of traversing and sampling terrains on planetary surfaces. By use of only the two main wheel actuators and the caster link actuator, Axel can be made to follow an arbitrary path, turn in place, and operate upside- down or right-side-up. If operated in a tethered configuration, as shown in Figure 1, it can be made to move down and up a steep crater wall, descend from an overhang to a cave, and ascend from the cave back to the overhang, all by use of the same three actuators. Such tethered operation could be useful in searching for accident victims or missing persons in mines, caves, and rubble piles. Running the tether through the caster link enhances the stability of Axel and provides a restoring force that keeps the link off the ground for the most part during operation on a steep slope. In its extended configuration, two Axel modules can dock to either side of a payload module to form the four wheeled Axel2 rover (Figure 2). Additional payload and Axel modules can dock to either side of the Axel2 to form the Axel3 rover, extending its payload capacity and its mobility capabilities.

Nesnas, Issa A.↗

Compact Autonomous Hemispheric Vision System

Solar System Exploration camera implementations to date have involved either single cameras with wide field-of-view (FOV) and consequently coarser spatial resolution, cameras on a movable mast, or single cameras necessitating rotation of the host vehicle to afford visibility outside a relatively narrow FOV. These cameras require detailed commanding from the ground or separate onboard computers to operate properly, and are incapable of making decisions based on image content that control pointing and downlink strategy. For color, a filter wheel having selectable positions was often added, which added moving parts, size, mass, power, and reduced reliability. A system was developed based on a general-purpose miniature visible-light camera using advanced CMOS (complementary metal oxide semiconductor) imager technology. The baseline camera has a 92 FOV and six cameras are arranged in an angled-up carousel fashion, with FOV overlaps such that the system has a 360 FOV (azimuth). A seventh camera, also with a FOV of 92 , is installed normal to the plane of the other 6 cameras giving the system a > 90 FOV in elevation and completing the hemispheric vision system. A central unit houses the common electronics box (CEB) controlling the system (power conversion, data processing, memory, and control software). Stereo is achieved by adding a second system on a baseline, and color is achieved by stacking two more systems (for a total of three, each system equipped with its own filter.) Two connectors on the bottom of the CEB provide a connection to a carrier (rover, spacecraft, balloon, etc.) for telemetry, commands, and power. This system has no moving parts. The system's onboard software (SW) supports autonomous operations such as pattern recognition and tracking.

Pingree, Paula J.↗

Image dissector camera system study

Various aspects of a rendezvous and docking system using an image dissector detector as compared to a GaAs detector were discussed. Investigation into a gimbled scanning system is also covered and the measured video response curves from the image dissector camera are presented. Rendezvous will occur at ranges greater than 100 meters. The maximum range considered was 1000 meters. During docking, the range, range-rate, angle, and angle-rate to each reflector on the satellite must be measured. Docking range will be from 3 to 100 meters. The system consists of a CW laser diode transmitter and an image dissector receiver. The transmitter beam is amplitude modulated with three sine wave tones for ranging. The beam is coaxially combined with the receiver beam. Mechanical deflection of the transmitter beam, + or - 10 degrees in both X and Y, can be accomplished before or after it is combined with the receiver beam. The receiver will have a field-of-view (FOV) of 20 degrees and an instantaneous field-of-view (IFOV) of two milliradians (mrad) and will be electronically scanned in the image dissector. The increase in performance obtained from the GaAs photocathode is not needed to meet the present performance requirements.

Howell, L.↗

Analytical Tools for Cloudscope Ice Measurement

The cloudscope is a ground or aircraft instrument for viewing ice crystals impacted on a sapphire window. It is essentially a simple optical microscope with an attached compact CCD video camera whose output is recorded on a Hi-8 mm video cassette recorder equipped with digital time and date recording capability. In aircraft operation the window is at a stagnation point of the flow so adiabatic compression heats the window to sublimate the ice crystals so that later impacting crystals can be imaged as well. A film heater is used for ground based operation to provide sublimation, and it can also be used to provide extra heat for aircraft operation. The compact video camera can be focused manually by the operator, and a beam splitter - miniature bulb combination provide illumination for night operation. Several shutter speeds are available to accommodate daytime illumination conditions by direct sunlight. The video images can be directly used to qualitatively assess the crystal content of cirrus clouds and contrails. Quantitative size spectra are obtained with the tools described in this report. Selected portions of the video images are digitized using a PCI bus frame grabber to form a short movie segment or stack using NIH (National Institute of Health) Image software with custom macros developed at DRI. The stack can be Fourier transform filtered with custom, easy to design filters to reduce most objectionable video artifacts. Particle quantification of each slice of the stack is performed using digital image analysis. Data recorded for each particle include particle number and centroid, frame number in the stack, particle area, perimeter, equivalent ellipse maximum and minimum radii, ellipse angle, and pixel number. Each valid particle in the stack is stamped with a unique number. This output can be used to obtain a semiquantitative appreciation of the crystal content. The particle information becomes the raw input for a subsequent program (FORTRAN) that synthesizes each slice and separates the new from the sublimating particles. The new particle information is used to generate quantitative particle concentration, area, and mass size spectra along with total concentration, solar extinction coefficient, and ice water content. This program directly creates output in html format for viewing with a web browser.

Arnott, W. Patrick↗

Imaging Asteroid 4 Vesta Using the Framing Camera

The Framing Camera (FC) onboard the Dawn spacecraft serves a dual purpose. Next to its central role as a prime science instrument it is also used for the complex navigation of the ion drive spacecraft. The CCD detector with 1024 by 1024 pixels provides the stability for a multiyear mission and its high requirements of photometric accuracy over the wavelength band from 400 to 1000 nm covered by 7 band-pass filters. Vesta will be observed from 3 orbit stages with image scales of 227, 63, and 17 m/px, respectively. The mapping of Vesta s surface with medium resolution will be only completed during the exit phase when the north pole will be illuminated. A detailed pointing strategy will cover the surface at least twice at similar phase angles to provide stereo views for reconstruction of the topography. During approach the phase function of Vesta was determined over a range of angles not accessible from earth. This is the first step in deriving the photometric function of the surface. Combining the topography based on stereo tie points with the photometry in an iterative procedure will disclose details of the surface morphology at considerably smaller scales than the pixel scale. The 7 color filters are well positioned to provide information on the spectral slope in the visible, the depth of the strong pyroxene absorption band, and their variability over the surface. Cross calibration with the VIR spectrometer that extends into the near IR will provide detailed maps of Vesta s surface mineralogy and physical properties. Georeferencing all these observation will result in a coherent and unique data set. During Dawn s approach and capture FC has already demonstrated its performance. The strong variation observed by the Hubble Space Telescope can now be correlated with surface units and features. We will report on results obtained from images taken during survey mode covering the whole illuminated surface. Vesta is a planet-like differentiated body, but its surface gravity and escape velocity are comparable to those of other asteroids and hence much smaller than those of the inner planets or

Keller, H. Uwe↗

MISR Browse data (MISBR_V4)

A MISR Browse Tool is available to allow easy access to ellipsoid-derived, true-color images for each camera reduced to 2.2 km resolution. The MISR red, green and blue bands are used to create the true-color image in JPEG format. The image is intentionally clipped and gamma-stretched to make cloud, ocean and land features visible. The user may find the Browse Tool helpful before ordering data. The tool's purpose is to search and view images in the on-line user interface. However, the browse product can be ordered separately. The Browse Tool page has Orbit-to-Date and Lat/Lon-to-Path/Block conversion tools to help identify particular MISR geographic locations and data files. [Location=GLOBAL] [Temporal_Coverage: Start_Date=2000-02-24; Stop_Date=] [Spatial_Coverage: Southernmost_Latitude=-90; Northernmost_Latitude=90; Westernmost_Longitude=-180; Easternmost_Longitude=180] [Data_Resolution: Latitude_Resolution=2.2 km; Longitude_Resolution=2.2 km; Horizontal_Resolution_Range=1 km - < 10 km or approximately .01 degree - < .09 degree; Temporal_Resolution=about 15 orbits/day; Temporal_Resolution_Range=Daily - < Weekly].

IMAGE↗

MISR Browse data (MISBR_V3)

A MISR Browse Tool is available to allow easy access to ellipsoid-derived, true-color images for each camera reduced to 2.2 km resolution. The MISR red, green and blue bands are used to create the true-color image in JPEG format. The image is intentionally clipped and gamma-stretched to make cloud, ocean and land features visible. The user may find the Browse Tool helpful before ordering data. The tool's purpose is to search and view images in the on-line user interface. However, the browse product can be ordered separately. The Browse Tool page has Orbit-to-Date and Lat/Lon-to-Path/Block conversion tools to help identify particular MISR geographic locations and data files. [Location=GLOBAL] [Temporal_Coverage: Start_Date=2000-02-24; Stop_Date=] [Spatial_Coverage: Southernmost_Latitude=-90; Northernmost_Latitude=90; Westernmost_Longitude=-180; Easternmost_Longitude=180] [Data_Resolution: Latitude_Resolution=2.2 km; Longitude_Resolution=2.2 km; Horizontal_Resolution_Range=1 km - < 10 km or approximately .01 degree - < .09 degree; Temporal_Resolution=about 15 orbits/day; Temporal_Resolution_Range=Daily - < Weekly].

EOSDIS↗

Dust aerosol retrieval results from MISR (multi-angle imaging spectro-radiometer)

Satellite measurements provide important tools for understanding the effect of mineral dust aerosols on past and present climate and climate predictions. Multi-angle instruments such as Multi-angle Imaging Spectro- Radiometer (MISR) provide independent constraints on aerosol properties based on their sensitivity to the shape of aerosol scattering phase functions. The current MISR operational retrieval algorithm (version 16 and higher) was modified by incorporating new non-spherical dust models that account for naturally occurring dust shapes and compositions. We present selected examples of MISR version 16 retrievals over AERONET sunphotometer land and ocean sites during the passage of dust fronts. Our analysis shows that during such events MISR retrieves Angstrom exponents characteristic of large particles, having little spectral variation in extinction over the MISR wavelength range (442, 550, 672 and 866 nm channels), as expected. The retrieved fraction of non-spherical particles is also very high. This quantity is not retrieved by satellite instruments having only nadir-viewing cameras. Our comparison of current (version 16) MISR-retrieved aerosol optical thickness (AOT) with AERONET instantaneous AOT shows better coverage and stronger correlations than when making identical comparisons with previous AOT retrievals (version 15). The MISR algorithm successful mixtures include a non-spherical dust component with high frequency in retrievals over dark water and slightly lower frequency over land. Selection frequencies of non-spherical dust models also decrease in dusty regions affected by pollution.

Multiangle Imaging Spectroradiometer (MISR)↗

Measurement of an Evaporating Drop on a Reflective Substrate

A figure depicts an apparatus that simultaneously records magnified ordinary top-view video images and laser shadowgraph video images of a sessile drop on a flat, horizontal substrate that can be opaque or translucent and is at least partially specularly reflective. The diameter, contact angle, and rate of evaporation of the drop as functions of time can be calculated from the apparent diameters of the drop in sequences of the images acquired at known time intervals, and the shadowgrams that contain flow patterns indicative of thermocapillary convection (if any) within the drop. These time-dependent parameters and flow patterns are important for understanding the physical processes involved in the spreading and evaporation of drops. The apparatus includes a source of white light and a laser (both omitted from the figure), which are used to form the ordinary image and the shadowgram, respectively. Charge-coupled-device (CCD) camera 1 (with zoom) acquires the ordinary video images, while CCD camera 2 acquires the shadowgrams. With respect to the portion of laser light specularly reflected from the substrate, the drop acts as a plano-convex lens, focusing the laser beam to a shadowgram on the projection screen in front of CCD camera 2. The equations for calculating the diameter, contact angle, and rate of evaporation of the drop are readily derived on the basis of Snell s law of refraction and the geometry of the optics.

Chao, David F.↗

3D Radiative Transfer Effects in Multi-Angle/Multi-Spectral Radio-Polarimetric Signals from a Mixture of Clouds and Aerosols Viewed by a Non-Imaging Sensor

When observing a spatially complex mix of aerosols and clouds in a single relatively large field-of-view, nature entangles their signals non-linearly through polarized radiation transport processes that unfold in the 3D position and direction spaces. In contrast, any practical forward model in a retrieval algorithm will use only 1D vector radiative transfer (vRT) in a linear mixing technique. We assess the difference between the observed and predicted signals using synthetic data from a high-fidelity 3D vRT model with clouds generated using a Large Eddy Simulation model and an aerosol climatology. We find that this difference is signal--not noise--for the Aerosol Polarimetry Sensor (APS), an instrument developed by NASA. Moreover, the worst case scenario is also the most interesting case, namely, when the aerosol burden is large, hence hase the most impact on the cloud microphysics and dynamics. Based on our findings, we formulate a mitigation strategy for these unresolved cloud adjacency effects assuming that some spatial information is available about the structure of the clouds at higher resolution from "context" cameras, as was planned for NASA's ill-fated Glory mission that was to carry the APS but failed to reach orbit. Application to POLDER (POLarization and Directionality of Earth Reflectances) data from the period when PARASOL (Polarization and Anisotropy of Reflectances for Atmospheric Sciences coupled with Observations from a Lidar) was in the A-train is briefly discussed.

APS↗

Design and fabrication of an autonomous rendezvous and docking sensor using off-the-shelf hardware

NASA Marshall Space Flight Center (MSFC) has developed and tested an engineering model of an automated rendezvous and docking sensor system composed of a video camera ringed with laser diodes at two wavelengths and a standard remote manipulator system target that has been modified with retro-reflective tape and 830 and 780 mm optical filters. TRW has provided additional engineering analysis, design, and manufacturing support, resulting in a robust, low cost, automated rendezvous and docking sensor design. We have addressed the issue of space qualification using off-the-shelf hardware components. We have also addressed the performance problems of increased signal to noise ratio, increased range, increased frame rate, graceful degradation through component redundancy, and improved range calibration. Next year, we will build a breadboard of this sensor. The phenomenology of the background scene of a target vehicle as viewed against earth and space backgrounds under various lighting conditions will be simulated using the TRW Dynamic Scene Generator Facility (DSGF). Solar illumination angles of the target vehicle and candidate docking target ranging from eclipse to full sun will be explored. The sensor will be transportable for testing at the MSFC Flight Robotics Laboratory (EB24) using the Dynamic Overhead Telerobotic Simulator (DOTS).

Grimm, Gary E.↗

MISR Calibration Issues in High-Contrast Scenes, and Empirical Corrections

We diagnose the potential causes for the Multi-angle Imaging SpectroRadiometer's (MISR) persistent high aerosol optical depth (AOD) bias at low AOD with the aid of coincident MODerate-resolution Imaging Spectroradiometer (MODIS) imagery from NASA's Terra satellite. Internal reflections within the MISR instrument are responsible for a large portion of the high AOD bias in high-contrast scenes, which are especially common as broken-cloud situations over ocean. Discrepancies between MODIS and MISR nadir-viewing near-infrared (NIR) images are used to optimize nine parameters, along with a background reflectance modulation term (that was modeled separately), to represent the observed features. Independent, surface-based AOD measurements from the AErosol RObotic NETwork (AERONET) and the Marine Aerosol Network (MAN) are compared with MISR Research Algorithm (RA) AOD retrievals for 1118 coincidences to validate the corrections when applied to the nadir and off-nadir cameras. Additionally, the calibration coefficients for the red and NIR channels used for MISR over-water aerosol retrievals were reassessed with the RA to be consistent on a camera-by-camera basis. With these corrections, plus the baseline RA corrections applied (except enhanced cloud screening), the median AOD bias in the mid-visible (green) band decreases from 0.010 to 0.002, the RMSE decreases by approx. 10%, and the slope and correlation of the MISR vs. sun photometer Ångström Exponent improves. For AOD558 nm < 0.10 and with additional cloud screening, the median bias for the RA-retrieved AOD in the green band decreases from 0.011 to 0.003, compared to ~ 0.023 for the Standard Algorithm (SA). RMSE decreases by ~ 20% compared to the baseline (uncorrected) RA and by 17-53% compared to the SA. After all corrections and cloud screening are implemented, for AOD558 nm < 0.10, which includes about half the validation data, 68% absolute AOD errors for the RA have dropped to < 0.02 (approx. 0.018).

MISR↗

Wide-Field Optic for Autonomous Acquisition of Laser Link

An innovation reported in Two-Camera Acquisition and Tracking of a Flying Target, NASA Tech Briefs, Vol. 32, No. 8 (August 2008), p. 20, used a commercial fish-eye lens and an electronic imaging camera for initially locating objects with subsequent handover to an actuated narrow-field camera. But this operated against a dark-sky background. An improved solution involves an optical design based on custom optical components for the wide-field optical system that directly addresses the key limitations in acquiring a laser signal from a moving source such as an aircraft or a spacecraft. The first challenge was to increase the light collection entrance aperture diameter, which was approximately 1 mm in the first prototype. The new design presented here increases this entrance aperture diameter to 4.2 mm, which is equivalent to a more than 16 times larger collection area. One of the trades made in realizing this improvement was to restrict the field-of-view to +80 deg. elevation and 360 azimuth. This trade stems from practical considerations where laser beam propagation over the excessively high air mass, which is in the line of sight (LOS) at low elevation angles, results in vulnerability to severe atmospheric turbulence and attenuation. An additional benefit of the new design is that the large entrance aperture is maintained even at large off-axis angles when the optic is pointed at zenith. The second critical limitation for implementing spectral filtering in the design was tackled by collimating the light prior to focusing it onto the focal plane. This allows the placement of the narrow spectral filter in the collimated portion of the beam. For the narrow band spectral filter to function properly, it is necessary to adequately control the range of incident angles at which received light intercepts the filter. When this angle is restricted via collimation, narrower spectral filtering can be implemented. The collimated beam (and the filter) must be relatively large to reduce the incident angle down to only a few degrees. In the presented embodiment, the filter diameter is more than ten times larger than the entrance aperture. Specifically, the filter has a clear aperture of about 51 mm. The optical design is refractive, and is comprised of nine custom refractive elements and an interference filter. The restricted maximum angle through the narrow-band filter ensures the efficient use of a 2-nm noise equivalent bandwidth spectral width optical filter at low elevation angles (where the range is longest), at the expense of less efficiency for high elevations, which can be tolerated because the range at high elevation angles is shorter. The image circle is 12 mm in diameter, mapped to 80 x 360 of sky, centered on the zenith.

Page, Norman A.↗

Algorithm for Rapid Searching Among Star-Catalog Entries

An algorithm searches a star catalog to identify guide stars within the field of view of a telescope or camera. The algorithm is fast: the number of computations needed to perform the search is approximately proportional to the logarithm of the number of stars in the catalog. The algorithm requires the prior organization of the star catalog into a hierarchy utilizing independent spherical coverings (see figure), such that each successively higher level contains fewer elements. In the lowest and most numerous level of the hierarchy, the elements are individual stars in the star catalog. The next higher level contains a spherical covering (a constellation of n points on a sphere that minimizes the maximum distance of any point on the sphere from the closest one of the n points), the next higher level contains a smaller spherical covering, and so forth, ending at the highest level, which contains one element representing the point of entry into the search structure. With necessary exceptions at the lowest and highest levels, each element at each level is labeled in terms of the element to which it is linked in the next higher level and the first element to which it is linked in the next lower level. Each element is also labeled in terms of (1) its coordinates on the celestial sphere and (2) the largest angular distance to any element in any lower level in the hierarchy. The elements at all levels of the hierarchy are numbered on a single list, such that the elements of each constellation at each level are numbered consecutively. The algorithm is recursive. The input required to start the algorithm comprises the coordinates of a point on the celestial sphere. Attention is then focused on individual elements of the hierarchy, starting from the topmost one, as follows: The angle between the input point and the element under consideration is calculated. If the calculated angle is larger than the sum of (1) the predetermined angle to the most distant element plus (2) the half field of view of the telescope, then no stars will be within the field of view and this recursive part of the algorithm is terminated.

Liebe, Carl Christian↗