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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
DOE OSTI2015

THE ARCONS PIPELINE: DATA REDUCTION FOR MKID ARRAYS

The Array Camera for Optical to Near-IR Spectrophotometry, or ARCONS, is a camera based on Microwave Kinetic Inductance Detectors (MKIDs), a new technology that has the potential for broad application in astronomy. Using an array of MKIDs, the instrument is able to produce time-resolved imaging and low-resolution spectroscopy constructed from detections of individual photons. The arrival time and energy of each photon are recorded in a manner similar to X-ray calorimetry, but at higher photon fluxes. The technique works over a very large wavelength range, is free from fundamental read noise and dark-current limitations, and provides microsecond-level timing resolution. Since the instrument reads out all pixels continuously while exposing, there is no loss of active exposure time to readout. The technology requires a different approach to data reduction compared to conventional CCDs. Here we outline here the prototype data reduction pipeline developed for ARCONS, though many of the principles are also more broadly applicable to energy-resolved photon counting arrays (e.g., transition edge sensors, superconducting tunnel junctions). We describe the pipeline's current status, and the algorithms and techniques employed in taking data from the arrival of photons at the MKID array to the production of images, spectra, and time-resolved light curves.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2016

Towards an improved LAI collection protocol via simulated field-based PAR sensing

In support of NASA’s next-generation spectrometer—the Hyperspectral Infrared Imager (HyspIRI)—we are working towards assessing sub-pixel vegetation structure from imaging spectroscopy data. Of particular interest is Leaf Area Index (LAI), which is an informative, yet notoriously challenging parameter to efficiently measure in situ. While photosynthetically-active radiation (PAR) sensors have been validated for measuring crop LAI, there is limited literature on the efficacy of PAR-based LAI measurement in the forest environment. This study (i) validates PAR-based LAI measurement in forest environments, and (ii) proposes a suitable collection protocol, which balances efficiency with measurement variation, e.g., due to sun flecks and various-sized canopy gaps. A synthetic PAR sensor model was developed in the Digital Imaging and Remote Sensing Image Generation (DIRSIG) model and used to validate LAI measurement based on first-principles and explicitly-known leaf geometry. Simulated collection parameters were adjusted to empirically identify optimal collection protocols. Furthermore, these collection protocols were then validated in the field by correlating PAR-based LAI measurement to the normalized difference vegetation index (NDVI) extracted from the “classic” Airborne Visible Infrared Imaging Spectrometer (AVIRIS-C) data (R 2 was 0.61). The results indicate that our proposed collecting protocol is suitable for measuring the LAI of sparse forest (LAI < 3–5 ( m 2 /m 2 )).

47 OTHER INSTRUMENTATION↗
NASA NTRS2008

A Closer Look at the Congo and the Lightning Maximum on Earth

The global maps of maximum mean annual flash density derived from a decade of observations from the Lightning Imaging Sensor on the NASA Tropical Rainfall Measuring Mission (TRMM) satellite show that a 0.5 degree x 0.5 degree pixel west of Bukavu, Democratic Republic of Congo (latitude 2S, longitude 28E) has the most frequent lightning activity anywhere on earth with an average value in excess of 157 fl/sq km/yr. This pixel has a flash density that is much greater than even its surrounding neighbors. By contrast the maximum mean annual flash rate for North America located in central Florida is only 33 fl/sq km/yr. Previous studies have shown that monthly-seasonal-annual lightning maxima on earth occur in regions dominated by coastal (land-sea breeze interactions) or topographic influences (elevated heat sources, enhanced convergence). Using TRMM, Landsat Enhanced Thematic Mapper, and Shuttle Imaging Radar imagery we further examine the unique features of this region situated in the deep tropics and dominated by a complex topography having numerous mountain ridges and valleys to better understand why this pixel, unlike any other, has the most active lightning on the planet.

Blakeslee, R. J.↗
NASA NTRS1981

Texas Instruments /TI/ 800 x 800 charge-coupled device /CCD/ image sensor

Very-large area high-performance CCD image sensors with 800 x 800 pixel format have been successfully fabricated and operated on the basis of a three-level polysilicon gate technology. They are thinned to 8 microns over the entire 12.2 x 12.2 mm active area, and are used in the rear illumination mode. The light transfer characteristic has a gamma value of 1.000 + or - 0.002 over most of the dynamic range. Analysis of the noise behavior shows that the device SNR is shot-noise-limited over most of the dynamic range. Simple on-chip signal processing can be performed using an integration well to noiselessly collect signal charge from multiple pixels prior to reading out the charge. A UV-sensitive phosphor has been applied to the chip, yielding a device capable of imaging at wavelengths from the vacuum UV to the near IR.

Blouke, M. M.↗
DOE OSTI2025

The X-ray Integral Field Unit at the end of the Athena reformulation phase

The Athena mission entered a redefinition phase in July 2022, driven by the imperative to reduce the mission cost at completion for the European Space Agency below an acceptable target, while maintaining the flagship nature of its science return. This notably called for a complete redesign of the X-ray Integral Field Unit (X-IFU) cryogenic architecture towards a simpler active cooling chain. Passive cooling via successive radiative panels at spacecraft level is now used to provide a 50 K thermal environment to an X-IFU owned cryostat. 4.5 K cooling is achieved via a single remote active cryocooler unit, while a multi-stage Adiabatic Demagnetization Refrigerator ensures heat lift down to the 50 mK required by the detectors. Amidst these changes, the core concept of the readout chain remains robust, employing Transition Edge Sensor microcalorimeters and a SQUID-based Time-Division Multiplexing scheme. Noteworthy is the introduction of a slower pixel. This enables an increase in the multiplexing factor (from 34 to 48) without compromising the instrument energy resolution, hence keeping significant system margins to the new 4 eV resolution requirement. This allows reducing the number of channels by more than a factor two, and thus the resource demands on the system, while keeping a 4’ field of view (compared to 5’ before). Here, in this article, we will give an overview of this new architecture, before detailing its anticipated performances. Finally, we will present the new X-IFU schedule, with its short term focus on demonstration activities towards a mission adoption in early 2027.

Peille, Philippe [Centre National d’Etudes Spatial↗
NASA NTRS2022

Local Scale (3-M) Soil Moisture Mapping Using SMAP and Planet Superdove

A capability for mapping meter-level resolution soil moisture with frequent temporal sampling over large regions is essential for quantifying local-scale environmental heterogeneity and eco-hydrologic behavior. However, available surface soil moisture (SSM) products generally involve much coarser grain sizes ranging from 30 m to several 10s of kilometers. Hence a new method is proposed to estimate 3-m resolution SSM using a combination of multi-sensor fusion, machine- learning (ML) and Cumulative Distribution Function (CDF) matching approaches. This method established favorable SSM correspondence between 3-m pixels and overlying 9-km grid cells from overlapping Planet SuperDove (PSD) observations and NASA Soil Moisture Active-Passive (SMAP) mission products. The resulting 3-m SSM predictions showed improved accuracy by reducing ab- solute bias and RMSE by ~0.01 cm3/cm3 over the original SMAP data in relation to in-situ soil moisture measurements for the Australian Yanco region, while preserving the high sampling frequency (1-3 day global revisit) and sensitivity to surface wetness (R 0.865) from SMAP. Heterogeneous soil moisture distributions varying with vegetation biomass gradients and irrigation regimes were generally captured within a selected study area. Further algorithm refinement and implementation for regional applications will allow for improvement in water resources management, precision agriculture, and disaster forecasts and responses.

soil moisture↗
NASA NTRS2007

Image sensor with high dynamic range linear output

Designs and operational methods to increase the dynamic range of image sensors and APS devices in particular by achieving more than one integration times for each pixel thereof. An APS system with more than one column-parallel signal chains for readout are described for maintaining a high frame rate in readout. Each active pixel is sampled for multiple times during a single frame readout, thus resulting in multiple integration times. The operation methods can also be used to obtain multiple integration times for each pixel with an APS design having a single column-parallel signal chain for readout. Furthermore, analog-to-digital conversion of high speed and high resolution can be implemented.

Yadid-Pecht, Orly↗
DOE OSTI2016

MO-AB-BRA-07: Low Dose Imaging with Avalanche Amorphous Selenium Flat Panel Imager

Purpose: We present the first active matrix flat panel imager (AMFPI) capable of producing x-ray quantum noise limited images at low doses by overcoming the electronic noise through signal amplification by photoconductive avalanche gain (gav). The indirect detector fabricated uses an optical sensing layer of amorphous selenium (a-Se) known as High-Gain Avalanche Rushing Photoconductor (HARP). The detector design is called Scintillator HARP (SHARP)-AMFPI. This is the first image sensor to utilize solid-state HARP technology. Methods: The detector’s electronic readout is a 24 × 30 cm{sup 2} array of thin film transistors (TFT) with a pixel pitch of 85 µm. The HARP structure consists of a 15 µm layer of a-Se isolated from the high voltage (HV) and signal electrode by a 2 µm thick hole blocking layer and electron blocking layer, respectively, to reduce dark current. A 150 µm thick structured CsI scintillator with reflective backing and a fiber optic faceplate (FOP) was coupled to the semi-transparent HV bias electrode of the HARP structure. Images were acquired using a 30 kVp Mo/Mo spectrum typically used in mammography. Results: Optical sensitivity measurements demonstrate that gav = 76 ± 5 can be achieved over the entire active area of the detector. At a constant dose to the detector of 6.67 µGy, image quality increases with gav until the effective electronic noise is negligible. Quantum noise limited images can be obtained with doses as low as 0.18 µGy. Conclusion: We demonstrate the feasibility of utilizing avalanche gain to overcome electronic noise. The indirect detector fabricated is the first solid-state imaging sensor to use HARP, and the largest active area HARP sensor to date. Our future work is to improve charge transport within the HARP structure and utilize a transparent HV electrode.

60 APPLIED LIFE SCIENCES↗
NASA NTRS1999

An Acoustic Charge Transport Imager for High Definition Television

This project, over its term, included funding to a variety of companies and organizations. In addition to Georgia Tech these included Florida Atlantic University with Dr. William E. Glenn as the P.I., Kodak with Mr. Mike Richardson as the P.I. and M.I.T./Polaroid with Dr. Richard Solomon as the P.I. The focus of the work conducted by these organizations was the development of camera hardware for High Definition Television (HDTV). The focus of the research at Georgia Tech was the development of new semiconductor technology to achieve a next generation solid state imager chip that would operate at a high frame rate (I 70 frames per second), operate at low light levels (via the use of avalanche photodiodes as the detector element) and contain 2 million pixels. The actual cost required to create this new semiconductor technology was probably at least 5 or 6 times the investment made under this program and hence we fell short of achieving this rather grand goal. We did, however, produce a number of spin-off technologies as a result of our efforts. These include, among others, improved avalanche photodiode structures, significant advancement of the state of understanding of ZnO/GaAs structures and significant contributions to the analysis of general GaAs semiconductor devices and the design of Surface Acoustic Wave resonator filters for wireless communication. More of these will be described in the report. The work conducted at the partner sites resulted in the development of 4 prototype HDTV cameras. The HDTV camera developed by Kodak uses the Kodak KAI-2091M high- definition monochrome image sensor. This progressively-scanned charge-coupled device (CCD) can operate at video frame rates and has 9 gm square pixels. The photosensitive area has a 16:9 aspect ratio and is consistent with the "Common Image Format" (CIF). It features an active image area of 1928 horizontal by 1084 vertical pixels and has a 55% fill factor. The camera is designed to operate in continuous mode with an output data rate of 5MHz, which gives a maximum frame rate of 4 frames per second. The MIT/Polaroid group developed two cameras under this program. The cameras have effectively four times the current video spatial resolution and at 60 frames per second are double the normal video frame rate.

Hunt, William D.↗
NASA NTRS2021

SMAP Validation Experiment 2019-2021 (SMAPVEX19-21): Detection of Soil Moisture Under Temperate Forest Canopy

The retrieval of soil moisture under forest canopy has long been an important goal for low frequency remote sensing. The NASA mission started a dedicated field experiment in May 2019 by deploying two temporary soil moisture networks in northeast US that cover two separate SMAP pixels with variable degree of forest cover. The measurements will be augmented with two intensive observation periods (IOP). The first IOP is planned for July and the other one for October. The IOPs will see deployment of the airborne PALS (Passive Active L-band sensor) instrument, which is similar to the SMAP instrument, and intensive manual measurements of soil moisture and vegetation. The measurements also include tower-based radiometer observations with ground truth measurements within the instrument footprint. The early results have shown that the SMAP measurement signal at L-band is sensitive to soil moisture changes observed on the ground.

Yueh, Simon H.↗
DOE OSTI2024

ETROC1: the first full chain precision timing prototype ASIC for CMS MTD endcap timing layer upgrade

We present the design and characterization of the first fullchain precision timing prototype ASIC, named ETL Readout Chipversion 1 (ETROC1) for the CMS MTD endcap timing layer (ETL)upgrade. The ETL utilizes Low Gain Avalanche Diode (LGAD) sensors todetect charged particles, with the goal to achieve a time resolutionof 40–50 ps per hit, and 30–40 ps per track with hits from twodetector layers. The ETROC1 is composed of a 5 × 5 pixelarray and peripheral circuits. The pixel array includes a4 × 4 active pixel array with an H-tree shaped networkdelivering clock and charge injection signals. Each active pixel iscomposed of various components, including a bump pad, a chargeinjection circuit, a pre-amplifier, a discriminator, adigital-to-analog converter, and a time-to-digital converter. Thesecomponents play essential roles as the front-end link in processingLGAD signals and measuring timing-related information. Theperipheral circuits provide clock signals and readoutfunctionalities. The size of the ETROC1 chip is7 mm× 9 mm. ETROC1 has been fabricated in a 65 nmCMOS process, and extensively tested under stimuli of chargeinjection, infrared laser, and proton beam. The time resolution ofbump-bonded ETROC1 + LGAD chipsets reaches 42–46 ps per hit in thebeam test.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2025

The ETROC2 as the Final Version for CMS Endcap Timing Layer (ETL) Upgrade

The ETROC (Endcap Timing Readout Chip) is being developed for the LGAD-based CMS Endcap Timing Layer (ETL) at HL-LHC. The ETL on each side of the interaction region will be instrumented with a two-disk system of MIP-sensitive LGAD (Low Gain Avalanche Diodes) silicon devices, read out by ETROCs for precision timing measurement with down to ~30 ps timing resolution per track. The ETROC is designed to handle a 16 x 16 pixel cell matrix, with each pixel being 1.3 mm x 1.3 mm to match the LGAD sensor pixel size. The front-end design for preamplifier and discriminator has been specifically optimized for the reduced LGAD signals, with enough flexibilities to meet the ETL specific needs for time resolution, power budget and radiation profile. The ETROC chip is implemented in a commercial 65nm CMOS process. Each channel consists of a preamplifier, a discriminator, a TDC used for TOA (Time Of Arrival) and TOT (Time Over Threshold) measurements, and a memory for data storage and readout. An in-pixel auto threshold calibration is included, along with a self-testing pattern generator. The TOT is used for time-walk correction of the TOA measurement. The detailed hit information (TOA and TOT) from each cell will be read out from a local circular buffer after each Level-1 Accept (about 1 MHz). In addition, a charge injection circuit is implemented to allow for testing and calibration. For more detailed monitoring of the signal pulses, waveform sampling circuits are included for one pixel. The clock distribution is based on a 16x16 H-tree design with a shielding structure to alleviate potential interference. The global peripheral circuits include a PLL, a phase shifter, an I2C slave controller, a fast control block, a global readout, and a data driver along with an efuse and temperature sensor. The ETROC builds event data frames for each L1A selected event and is also capable of providing L1 trigger information for user-defined delayed hits. The main design challenge is how to extract precision timing information from the small LGAD signals in the presence of high irradiation fluence, while keeping the power consumption and digital activity low. The ETL design goal for the time resolution of 50 ps per hit is required to achieve a 35 ps arrival time measurement for a MIP particle, which has its track registered in two ETL disk layers. The LGAD contribution is known to be about 30 ps, this means that the jitter from the ETROC has to be kept below 40 ps. The ETROC2 is the first full size full functionality prototype design fully compatible with the final chip specifications for CMS ETL and now becomes the final version. The ETROC2 chips have been extensively tested. We will present here new testing results including the bump bonding yield improvement study, the time walk correction (TWC) generality study with one pixel TWC applying to all pixels, the final SEU testing using both heavy ion and proton beam, more beam test studies including different sensors, and readiness for the ETROC2 production for CMS ETL upgrade.

Liu, Tiehui [Fermilab] (ORCID:0009000765225605)↗
DOE OSTI2013

3D active edge silicon sensors: Device processing, yield and QA for the ATLAS-IBL production

3D silicon sensors, where plasma micromachining is used to etch deep narrow apertures in the silicon substrate to form electrodes of PIN junctions, were successfully manufactured in facilities in Europe and USA. In 2011 the technology underwent a qualification process to establish its maturity for a medium scale production for the construction of a pixel layer for vertex detection, the Insertable B-Layer (IBL) at the CERN-LHC ATLAS experiment. The IBL collaboration, following that recommendation from the review panel, decided to complete the production of planar and 3D sensors and endorsed the proposal to build enough modules for a mixed IBL sensor scenario where 25% of 3D modules populate the forward and backward part of each stave. The production of planar sensors will also allow coverage of 100% of the IBL, in case that option was required. This paper will describe the processing strategy which allowed successful 3D sensor production, some of the Quality Assurance (QA) tests performed during the pre-production phase and the production yield to date.

47 OTHER INSTRUMENTATION↗
NASA NTRS2017

Soil Moisture Retrieval with Airborne PALS Instrument over Agricultural Areas in SMAPVEX16

NASA's SMAP (Soil Moisture Active Passive) calibration and validation program revealed that the soil moisture products are experiencing difficulties in meeting the mission requirements in certain agricultural areas. Therefore, the mission organized airborne field experiments at two core validation sites to investigate these anomalies. The SMAP Validation Experiment 2016 included airborne observations with the PALS (Passive Active L-band Sensor) instrument and intensive ground sampling. The goal of the PALS measurements are to investigate the soil moisture retrieval algorithm formulation and parameterization under the varying (spatially and temporally) conditions of the agricultural domains and to obtain high resolution soil moisture maps within the SMAP pixels. In this paper the soil moisture retrieval using the PALS brightness temperature observations in SMAPVEX16 is presented.

SMAPVEX15↗
DOE OSTI2016

High-speed imaging at high x-ray energy: CdTe sensors coupled to charge-integrating pixel array detectors

Pixel Array Detectors (PADs) consist of an x-ray sensor layer bonded pixel-by-pixel to an underlying readout chip. This approach allows both the sensor and the custom pixel electronics to be tailored independently to best match the x-ray imaging requirements. Here we describe the hybridization of CdTe sensors to two different charge-integrating readout chips, the Keck PAD and the Mixed-Mode PAD (MM-PAD), both developed previously in our laboratory. The charge-integrating architecture of each of these PADs extends the instantaneous counting rate by many orders of magnitude beyond that obtainable with photon counting architectures. The Keck PAD chip consists of rapid, 8-frame, in-pixel storage elements with framing periods <150 ns. The second detector, the MM-PAD, has an extended dynamic range by utilizing an in-pixel overflow counter coupled with charge removal circuitry activated at each overflow. This allows the recording of signals from the single-photon level to tens of millions of x-rays/pixel/frame while framing at 1 kHz. Both detector chips consist of a 128×128 pixel array with (150 µm){sup 2} pixels.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
NASA NTRS1999

Microgravity Transport Phenomena Experiment (MTPE) Overview

The Microgravity Transport Phenomena Experiment (MTPE) is a fluids experiment supported by the Fundamentals in Biotechnology program in association with the Human Exploration and Development of Space (BEDS) initiative. The MTP Experiment will investigate fluid transport phenomena both in ground based experiments and in the microgravity environment. Many fluid transport processes are affected by gravity. Osmotic flux kinetics in planar membrane systems have been shown to be influenced by gravimetric orientation, either through convective mixing caused by unstably stratified fluid layers, or through a stable fluid boundary layer structure that forms in association with the membrane. Coupled transport phenomena also show gravity related effects. Coefficients associated with coupled transport processes are defined in terms of a steady state condition. Buoyancy (gravity) driven convection interferes with the attainment of steady state, and the measurement of coupled processes. The MTP Experiment measures the kinetics of molecular migration that occurs in fluids, in response to the application of various driving potentials. Three separate driving potentials may be applied to the MTP Experiment fluids, either singly or in combination. The driving potentials include chemical potential, thermal potential, and electrical potential. Two separate fluid arrangements are used to study membrane mediated and bulk fluid transport phenomena. Transport processes of interest in membrane mediated systems include diffusion, osmosis, and streaming potential. Bulk fluid processes of interest include coupled phenomena such as the Soret Effect, Dufour Effect, Donnan Effect, and thermal diffusion potential. MTP Experiments are performed in the Microgravity Transport Apparatus (MTA), an instrument that has been developed specifically for precision measurement of transport processes. Experiment fluids are contained within the MTA fluid cells, designed to create a one dimensional flow geometry of constant cross sectional area, and to facilitate fluid filling and draining operations in microgravity. The fluid cells may be used singly for bulk solutions, or in a Stokes diaphragm configuration to investigate membrane mediated phenomena. Thermal and electrical driving potentials are applied to the experiment fluids through boundary plates located at the ends of the fluid cells. In the ground based instrument, two constant temperature baths circulate through reservoirs adjacent to the boundary plates, and establish the thermal environment within the fluid cells. The boundary plates also serve as electrodes for measurement and application of electrical potentials. The Fluid Manipulation System associated with the MTA is a computer controlled system that enables storage and transfer of experiment fluids during on orbit operations. The system is used to automatically initiate experiments and manipulate fluids by orchestrating pump and valve operations through scripted sequences. Unique technologies are incorporated in the MTA for measurement of fluid properties. Volumetric Flow Sensors have been developed for precision measurement of total fluid volume contained within the fluid cells over time. This data is most useful for measuring the kinetics of osmosis, where fluid is transported from one fluid cell to another through a semipermeable membrane. The MicroSensor Array has been designed to perform in situ measurement of several important fluid parameters, providing simultaneous measurement of solution composition at multiple locations within the experiment fluids. Micromachined sensors and interface electronics have been developed to measure temperature, electrical conductivity, pH, cation activity, and anion activity. The Profile Refractometer uses a laser optical system to directly image the fluid Index of Refraction profile that exists along the MTA fluid cell axis. A video system acquires images of the RI profile over time, and records the transport kinetics that occur upon application of chemical, thermal, or electrical driving potentials. Image processing algorithms have been developed to analyze the refractometer images on a pixel by pixel basis, calibrating and scaling the measured Index of Refraction profile to correlated solution properties of interest such as density, concentration, and temperature. Additional software has been developed to compile the processed images into a three dimensional matrix that contains fluid composition data as a function of experiment time and position in the fluid cell. These data are combined with data from the other sensor systems, and analyzed in the context of transport coefficients associated with the various transport phenomena. Analysis protocols have been developed to measure the transient kinetics, and steady state distribution of fluid components that occur in response to the applied driving potentials. The results are expressed in terms of effective transport coefficients. Experiments have been performed using a variety of solutes, and results generated are that are in agreement with published transport coefficient values.

Mason, Larry W.↗
DOE OSTI2023

CRADA Number NFE-19-07847 with MantaPoole Technologies (CRADA Final Report)

As the world becomes more automated, smart and autonomous systems that utilize advanced 3D machine vision are becoming ever more prevalent. To function autonomously, these smart machines need to be able to identify the “what” and “where” of their application by capturing color and depth information. The color information provides the needed contrast information to identify the “what” of a scene while the depth information allows the smart machine to identify “where” an object in a 3D environment is. To capture both the color and depth information using only a single sensor, MantaPoole Technologies (MPT) is developing a new type of 3D light field camera. The approach leverages MPT’s active micro-optics technology which when aligned and placed over an imaging detector are designed to act as an advanced optical filter that controls the direction of light that reaches the underlying pixels.

47 OTHER INSTRUMENTATION↗
NASA NTRS1991

Experimental characterization of the perceptron laser rangefinder

In this report, we characterize experimentally a scanning laser rangefinder that employs active sensing to acquire three-dimensional images. We present experimental techniques applicable to a wide variety of laser scanners, and document the results of applying them to a device manufactured by Perceptron. Nominally, the sensor acquires data over a 60 deg x 60 deg field of view in 256 x 256 pixel images at 2 Hz. It digitizes both range and reflectance pixels to 12 bits, providing a maximum range of 40 m and a depth resolution of 1 cm. We present methods and results from experiments to measure geometric parameters including the field of view, angular scanning increments, and minimum sensing distance. We characterize qualitatively problems caused by implementation flaws, including internal reflections and range drift over time, and problems caused by inherent limitations of the rangefinding technology, including sensitivity to ambient light and surface material. We characterize statistically the precision and accuracy of the range measurements. We conclude that the performance of the Perceptron scanner does not compare favorably with the nominal performance, that scanner modifications are required, and that further experimentation must be conducted.

Kweon, I. S.↗