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Subsetted model output on height-above-ground levels for meteorology-related variables from a LASSO-CACTI WRF simulation

Meteorology-related model output interpolated to height-above-ground levels from a Weather Research and Forecasting (WRF) simulation from the Large-Eddy Simulation (LES) Atmospheric Radiation Measurement (ARM) Symbiotic Simulation and Observation (LASSO) deep-convection scenario for the Cloud, Aerosol, and Complex Terrain Interactions (CACTI) field campaign. The LASSO-CACTI simulations span grid spacings from 7.5 km to 100 m through the use of four nested domains, labeled d1 through d4. The simulations are of convection near the Sierras de Córdoba mountain range, roughly centered on the ARM Mobile Facility. More information can be found at https://www.arm.gov/capabilities/modeling/lasso. This version of the output is a collection of variables subsetted from the raw WRF output to reduce the file overhead for users not needing the full raw dataset. The subset files are in netCDF format with the height-based variables interpolated to heights based on distance above ground level.

54 ENVIRONMENTAL SCIENCES↗

Lunar Science Investigations and Exploration in Celestial Mapping System

Introduction: As NASA expands the mission portfolio on the lunar surface, there is a need for applications with a broad range of analytical and functional capabilities that can be simultaneously deployed onto multiple mobile and desktop platforms to perform in-situ operations and hence enabling extensive Lunar exploration. Celestial Mapping System (CMS) [1,2] is developed to address the need for tools for science investigations, mission planning, operations and support for planetary sciences. Built on top of NASA WorldWind libraries, CMS can be simultaneously deployed onto multiple platforms, has the flexibility to update to the latest imagery and terrain datasets as they are being acquired (in real time) before and/or during the exploration mission and has the potential to enable traverse path planning suited for rovers, EVA and surface mobility units. It can provide critical functionalities such as equipment planning and optimized placement on Lunar surface, line of sight analysis to inform the coverage area for various equipment, powerful measurement tools based on 3D terrain, 3D COLLADA models to represent rovers, humans and equipment, visualization of derived mapping products (e.g. resource maps), and a data engine for hosting new observations that are not available in other contemporary lunar data tools [1]. Visualization of PSRs: The current presentation focuses on the work performed by the authors, to consume a unique dataset of super-enhanced images of the permanently shadowed regions (PSRs) at the lunar poles which were produced by the Hyper-effective nOise Removal U-net Software (HORUS) tool [3]. This tool was developed in direct support of NASA's VIPER and Artemis programs to enhance the extremely low-light images of the interior of PSRs and provide the first-time ability to see within these regions at and discern surface features (i.e. boulders and craters) down to 3 meters in size. We focused on the region near Nobili crater near Lunar south pole, selected site for VIPER mission and stitched several images to create a high-resolution map within one of the PSR of Nobile crater. Line of Sight Analysis and Traverse Planning in PSRs: We have developed an in-built line of sight analysis (LOS) tool in CMS that analyzes the terrain profile and obstructions and provides the visibility of a given terrain for a remote observer. This tool was utilized to perform viewshed analysis to investigate the area inside the PSR, a remote observer such as a rover could see without actually crossing the region. Figure 1 shows the viewshed analysis on the PSR in Nobile region. The yellow pin shows the observer location outside the PSR. The yellow area shows the visible part of PSR. The obstructed area with no visibility for the observer is shown in red. Figure 1: (left) PSR image on top of a high-resolution mosaic of sunlit images of a crater, in Nobile region (right) Viewshed Analysis of the same PSR with observer location shown by yellow pin. This analysis was extended further to set different heights for various observers and then perform the viewshed analysis. Combining the different visibility profiles can help designing improved traverses within the crater. Future plans: Eventually, HORUS datasets will be integrated into CMS as a layer in selected lunar polar regions. Hazard Maps will then be created based on terrain analysis in those regions. This integration will enable multiple scientific and exploration applications, such as designing traverses within PSRs, analyzing potential landing and science mission targets, investigating the meter-scale geomorphology of PSRs, including craters, boulder, surface roughness, mass wasting features and other indications of the presence of water-ice and other volatiles. Acknowledgments: CMS developers team including Kaitlyn J. Dickinson, Tyler A. Lucarz, Tyler W. Choi from USRA, NASA WorldWind Advisory team including Mark Peterson and Guillermo Miguel Del Castillo, HORUS team member V.T. Bickel, Robinson, M., LRO MOON LROC 2 EDR V1.0, LRO-L-LROC-2-EDR-V1.0, NASA Planetary Data System (PDS), 2009. https://doi.org/10.17189/1520643 References: [1] https://celestial.arc.nasa.gov [2] Agrawal et. al. “Celestial Mapping System for Lunar Surface Mapping and Analytics”, Lunar Surface Innovation Consortium, 2021 [3] Bickel V. et al. (2021) Nat Commun 12, 5607

Lunar Mapping↗

Subsetted model output on height-above-mean-sea-level levels for cloud-related variables from a LASSO-CACTI WRF simulation

Cloud-related model output interpolated to heights-above-mean-sea-level from a Weather Research and Forecasting (WRF) simulation from the Large-Eddy Simulation (LES) Atmospheric Radiation Measurement (ARM) Symbiotic Simulation and Observation (LASSO) deep-convection scenario for the Cloud, Aerosol, and Complex Terrain Interactions (CACTI) field campaign. The LASSO-CACTI simulations span grid spacings from 7.5 km to 100 m through the use of four nested domains, labeled d1 through d4. The simulations are of convection near the Sierras de Córdoba mountain range, roughly centered on the ARM Mobile Facility. More information can be found at https://www.arm.gov/capabilities/modeling/lasso. This version of the output is a collection of variables subsetted from the raw WRF output to reduce the file overhead for users not needing the full raw dataset. The subset files are in netCDF format with the height-based variables interpolated to heights based on distance above mean sea level.

54 ENVIRONMENTAL SCIENCES↗

Subsetted model output on height-above-mean-sea-level levels for meteorology-related variables from a LASSO-CACTI WRF simulation

Meteorology-related model output interpolated to heights-above-mean-sea-level from a Weather Research and Forecasting (WRF) simulation from the Large-Eddy Simulation (LES) Atmospheric Radiation Measurement (ARM) Symbiotic Simulation and Observation (LASSO) deep-convection scenario for the Cloud, Aerosol, and Complex Terrain Interactions (CACTI) field campaign. The LASSO-CACTI simulations span grid spacings from 7.5 km to 100 m through the use of four nested domains, labeled d1 through d4. The simulations are of convection near the Sierras de Córdoba mountain range, roughly centered on the ARM Mobile Facility. More information can be found at https://www.arm.gov/capabilities/modeling/lasso. This version of the output is a collection of variables subsetted from the raw WRF output to reduce the file overhead for users not needing the full raw dataset. The subset files are in netCDF format with the height-based variables interpolated to heights based on distance above mean sea level.

54 ENVIRONMENTAL SCIENCES↗

A comparison of airborne GEMS/SAR with satellite-borne Seasat/SAR radar imagery - The value of archived multiple data sets

In a study concerning the value of using radar imagery from systems with diverse parameters, X-band images of the Northern Louisiana Salt dome area generated by the airborne Goodyear electronic mapping system (GEMS) are analyzed in conjunction with imagery generated by the satelliteborne Seasat/SAR. The GEMS operated with an incidence angle of 75 to 85 deg and a resolution of 12 m, whereas the Seasat/SAR operated with an incidence angle of 23 deg and a resolution of 25 m. It is found that otherwise unattainable data on land management activities, improved delineation of the drainage net, better definition of surface roughness in cleared areas, and swamp identification, became accessible when adjustments for the time lapse between the two missions were made and supporting ground data concerning the physical and vegetative characteristics of the terrain were acquired.

Hanson, Bradford C.↗

Thorium Enrichment within the Procellarum KREEP Terrane: The Record in Surface Deposits and Significance for Thermal Evolution

The nearside-farside structural and compositional asymmetry of the Moon was recognized during the early days of Apollo and the suggestion was made that the migration of mantle melts to the nearside would have been favored by early Earth-Moon orbital dynamics and nonuniform planetesimal bombardment. Recent global geochemical mapping by Lunar Prospector has provided additional data, particularly in the Th distribution, that strongly supports the notion of global, preferential melt migration, which led in part to the development of the Procellarum KREEP Terrane (PKT) [2-5]. The surface distribution of Th was then reshaped by basin-forming impacts into the PKT, especially the Imbrium impact, which was the last and largest to strike in that region. The Imbrium event probably excavated material from a partially molten zone deep in the crust and delivered Th-rich ejecta Moon-wide. A fundamentally important but poorly understood aspect of the global Th distribution is the concentration of Th in the subsurface rocks of the PKT crustal section. For example, depending on what assumptions are made, the PKT crustal section, which is about 12% of the crust and only about 1.2% of the whole Moon, may contain as much as 40% of the Moon's entire Th budget. Such a distribution of Th and related heat-producing elements would have had a profound effect on melting, mixing, and the thermal evolution of the PKT and the underlying mantle. In this abstract, we examine the compositions of terra formations within the PKT and relate them to some of the Th-bearing rock types known from the Apollo samples. It appears that the existence of the PKT may be a unifying concept for a number of petrologic and geochemical observations. From the initial Lunar Prospector gamma-ray spectrometer data(-about 5 deg. resolution) and from the preliminary low-orbit data, there appears to be a number of relatively hotter "spots" within the PKT in terms of Th concentration. Some of the hotter spots correspond to intermediate-sized craters that penetrated volcanic flows and excavated Th-rich, submare material, such as Aristarchus, Aristillus, and Kepler. Other spots, however, correspond to surficial formations that constitute mainly rough topography associated with Imbrium ejecta or circum-Imbrium ring mountains and do not necessarily imply the presence of exposed KREEP basalts. The Fra Mauro Formation south of Copernicus toward the Apollo 14 site and regions of the Alpes Formation southwest of Copernicus in the vicinity of Reinhold lie within the most prominent hotspot; here them concentration is consistent with that found in the Apollo 14 soils (about 12-13 ppm) when the proportions of Fra Mauro Formation and mare basalt are considered. The area between Copernicus and Kepler and northwest of Copernicus in terra extending to the Carpathians is similarly enriched in Th. The Apennines from Eratosthenes toward the Apollo 15 site contain elevated Th concentrations, as does the northwestern quadrant of circum-Imbrium terra, especially between (but not including) La Condamine and Plato, and in the region northwest of the Jura mountains extending southward past Mairan to the Gruithuisen-Domes region. Within the main topographic rim of Imbrium, the Apennine Bench formation south of Archimedes appears to have relatively elevated Th concentration. Comparing the map of Th distribution to a digital-elevation map derived from Clementine altimetry, it appears that most of the areas richest in Th occur where the surface is elevated relative to the majority of PKT volcanic plains. Not all rough topography within the PKT has such elevated Th, however. Based on an analysis of the 5 deg. data, and using the calibration of, the mean Th concentrations for mainly volcanic-resurfaced terrain and rugged terrain are similar (about 5.5 ppm). This occurs in part because craters that penetrated mare basalt excavated Th-rich material. Even so, there appear to be extensive areas of volcanic resurfacing that have no obvious extrinsic source of Th-rich material, suggesting that the basalts, themselves, may contain as much as 5-6 ppm Th. High-FeO concentrations (18 to >20 wt%) indicate that these are not KREEP basalts but mare basalts. If so, this is surprising because most of the Apollo-sampled mare basalts have very low-Th (typically <2 ppm). A variety of Th-rich materials occur in the sample collection, particularly in the samples from the Apollo 12,14, and 15 sites. The most abundant Th-rich rock types are the mafic impact-melt breccias, which although found at all sites, are most abundant at Apollo 14, where they dominate the rock samples and make up some 40% of the rock particles in the soil. These have Th concentrations ranging up to about 30 ppm and averaging about 18 ppm. The Apollo 14 soils contain about 13 ppm Th, reflecting the high abundance of this melt-breccia component. At the nearby Apollo 12 site, the rocks consist mainly of mare basalts, and these have low-Th concentrations, mostly <1 ppm. Among the nonmare rocks, however, a few such as complex breccia 12013 contain a variety of evolved lithologies and represent potential sources of Th-rich components ranging from 17 to 50 ppm. A single fragment of KREEP basalt from the Apollo 12 soil contains about 50 ppm Th. Despite the identification of highly Th-enriched lithologic components at the Apollo 12 site, the soils there vary linearly in composition so as to extrapolate to a moderate Th KREEP-basalt component or a composition like that of the Fra Mauro formation as reflected by Apollo 14 soil (14 ppm Th at 10 wt% FeO). The nearby Lansberg Crater (39-km diameter) is a likely candidate to have delivered submare material such as buried Fra Mauro or Alpes material to the Apollo 12 site. Additional information contained in the original.

Jolliff, B. L.↗

Subsetted model output for aerosol-related variables from a LASSO-CACTI WRF simulation

Aerosol-related model output from a Weather Research and Forecasting (WRF) simulation from the Large-Eddy Simulation (LES) Atmospheric Radiation Measurement (ARM) Symbiotic Simulation and Observation (LASSO) deep-convection scenario for the Cloud, Aerosol, and Complex Terrain Interactions (CACTI) field campaign. The LASSO-CACTI simulations span grid spacings from 7.5 km to 100 m through the use of four nested domains, labeled d1 through d4. The simulations are of convection near the Sierras de Córdoba mountain range, roughly centered on the ARM Mobile Facility. More information can be found at https://www.arm.gov/capabilities/modeling/lasso. This version of the output is a collection of variables subsetted from the raw WRF output to reduce the file overhead for users not needing the full raw dataset. The subset files are in netCDF format with the height-based variables on the raw, model eta levels. The aerosol properties are consistent with the Thompson aerosol-aware cloud microphysics scheme where the simulated aerosol are proxies for representative “water friendly” and “ice friendly” aerosol.

54 ENVIRONMENTAL SCIENCES↗

Correction and Geological Analysis of Lunar 3.8 Cm Radar Data

Earth based radar observations of the Moon have been taken at many wavelengths during the last ten years -- at 3.8, 70 cm, and most recently, 7.5 cm. Radar returns have been collected in both polarized and depolarized form so that is possible to derive both topographic and local surface roughness from the data. Until recently, work with 3.8 cm radar data had consisted of qualitative correlation of photographic and thermal IR data with individual depolarized radar data frames (local surface roughness) at different wavelengths. These studies provided results which demonstrated that the relationships between surface roughness (measured by either thermal emission or radar reflectivity) at different wavelengths can be used as an index of a crater's state of degradation (age). However, systematic studies of craters, or other local terrain features, as well as regional or global studies of major terrains (involving a number of data frames), cannot be done until individual frames are calibrated, geometric distortion is removed, and corrected frames are mosaicked.

Clark, P. E.↗

Meteorite Falls Observed in U.S. Weather Radar Data in 2015 and 2016 (To Date)

To date, over twenty meteorite falls have been located in the weather radar imagery of the National Oceanic and Atmospheric Administration (NOAA)'s NEXRAD radar network. We present here the most prominent events recorded since the last Meteoritical Society meeting, covering most of 2015 and early 2016. Meteorite Falls: The following events produced evidence of falling meteorites in radar imagery and resulted in meteorites recovered at the fall site. Creston, CA (24 Oct 2015 0531 UTC): This event generated 218 eyewitness reports submitted to the American Meteor Society (AMS) and is recorded as event #2635 for 2015 on the AMS website. Witnesses reported a bright fireball with fragmentation terminating near the city of Creston, CA, north of Los Angeles. Sonic booms and electrophonic noise were reported in the vicinity of the event. Weather radar imagery records signatures consistent with falling meteorites in data from the KMUX, KVTX, KHNX and KVBX. The Meteoritical Society records the Creston fall as an L6 meteorite with a total recovered mass of 688g. Osceola, FL (24 Jan 2016 1527 UTC): This daytime fireball generated 134 eyewitness reports on AMS report number 266 for 2016, with one credible sonic boom report. The fireball traveled roughly NE to SW with a terminus location north of Lake City, FL in sparsely populated, forested countryside. Radar imagery shows distinct and prominent evidence of a significant meteorite fall with radar signatures seen in data from the KJAX and KVAX radars. Searchers at the fall site found that recoveries were restricted to road sites by the difficult terrain, and yet several meteorites were recovered. Evidence indicates that this was a relatively large meteorite fall where most of the meteorites are unrecoverable due to terrain. Osceola is an L6 meteorite with 991 g total mass recovered to date. Mount Blanco, TX (18 Feb 2016 0343 UTC): This event produced only 39 eyewitness reports and is recorded as AMS event #635 for 2016. No reports of sonic booms or electrophonic noise are recorded in the AMS eyewitness reports, but videos of the event show a relatively long-lasting fireball with fragmentation. Evidence of falling meteorites is seen in radar imagery from the KAMA and KLBB radars defining a roughly WNW to ESE trend with the dominant wind direction. This event featured favorable search ground composed mostly of farmland and ranchland and was extensively searched. Rather surprisingly, only a single L5 chondrite of 36.2g has been recovered to date.

Fries, Marc↗

WRF restart files for a LASSO-CACTI simulation

The restart files from a Weather Research and Forecasting (WRF) simulation from the Large-Eddy Simulation (LES) Atmospheric Radiation Measurement (ARM) Symbiotic Simulation and Observation (LASSO) deep-convection scenario for the Cloud, Aerosol, and Complex Terrain Interactions (CACTI) field campaign. The LASSO-CACTI simulations span grid spacings from 7.5 km to 100 m through the use of four nested domains, labeled d1 through d4. Restarts are available for the LES domains, i.e., d3 and d4. The simulations are of convection near the Sierras de Córdoba mountain range, roughly centered on the ARM Mobile Facility. More information can be found at https://www.arm.gov/capabilities/modeling/lasso. The restart files are output every 30 minutes in netCDF format as output by the WRF model, i.e., the “wrfrst” files, with the files renamed for archival purposes.

54 ENVIRONMENTAL SCIENCES↗

Lithological and textural controls on radar and diurnal thermal signatures of weathered volcanic deposits, Lunar Crater region, Nevada

Radar backscatter intensity as measured by calibrated synthetic aperture radar (SAR) systems is primarily controlled by three factors: local incidence angle, wavelength-scale roughness, and dielectric permittivity of surface materials. Radar observations may be of limited use for geological investigations of surface composition, unless the relationships between lithology and the above characteristics can be adequately understood. In arid terrains, such as the Southwest U.S., weathering signatures (e.g. soil development, fracturing, debris grain size and shape, and hill slope characteristics) are controlled to some extent by lithologic characteristics of the parent bedrock. These textural features of outcrops and their associated debris will affect radar backscatter to varying degrees, and the multiple-wavelength capability of the JPL Airborne SAR (AIRSAR) system allows sampling of textures at three distinct scales. Diurnal temperature excursions of geologic surfaces are controlled primarily by the thermal inertia of surface materials, which is a measure of the resistance of a material to a change in temperature. Other influences include albedo, surface slopes affecting insolation, local meteorological conditions and surface emissivity at the relevant thermal wavelengths. To first order, thermal inertia variations on arid terrain surfaces result from grain size distribution and porosity differences, at scales ranging from micrometers to tens of meters. Diurnal thermal emission observations, such as those made by the JPL Thermal Infrared Multispectral Scanner (TIMS) airborne instrument, are thus influenced by geometric surface characteristics at scales comparable to those controlling radar backscatter. A preliminary report on a project involving a combination of field, laboratory and remote sensing observations of weathered felsic-to basaltic volcanic rock units exposed in the southern part of the Lunar Crater Volcanic Field, in the Pancake Range of central Nevada is presented. Focus is on the relationship of radar backscatter cross sections at multiple wavelengths, apparent diurnal temperature excursions identified in multi-temporal TIMS images, surface geometries related to weathering style, and parent bedrock lithology.

Plaut, Jeffrey J.↗

Progress in radar snow research

Multifrequency measurements of the radar backscatter from snow-covered terrain were made at several sites in Brookings, South Dakota, during the month of March of 1979. The data are used to examine the response of the scattering coefficient to the following parameters: (1) snow surface roughness, (2) snow liquid water content, and (3) snow water equivalent. The results indicate that the scattering coefficient is insensitive to snow surface roughness if the snow is drv. For wet snow, however, surface roughness can have a strong influence on the magnitude of the scattering coefficient. These observations confirm the results predicted by a theoretical model that describes the snow as a volume of Rayleig scatterers, bounded by a Gaussian random surface. In addition, empirical models were developed to relate the scattering coefficient to snow liquid water content and the dependence of the scattering coefficient on water equivalent was evaluated for both wet and dry snow conditions.

Stiles, W. H.↗

Chronology of glaciation in the Hellas region of Mars

The Hellas Impact Basin is one of the oldest features on Mars, as indicated by the high density of large impact craters in parts of the basin. The highly degraded condition of Hellas seems consistent with great antiquity. However, many of the most strikingly modified landscapes in the basin, believed to be glaciogenic, also appear to be geologically youthful. Stratigraphic relations suggest two episodes of glaciation. Chronologic constraints are imposed on glaciation based on the impact cratering record, the focus of which is the southwestern portion of Hellas. Major terrain units are mapped. The lineated terrain and ridged plains form the summit and flanks of a large shield volcano, Amphitrites Patera, which was superimposed over the southwestern rim of Hellas toward the end of heavy bombardment. The ridged plains and lineated terrain are crossed by numerous wrinkle ridges. The lineated terrain is distinguished by a pervasive system of deep erosional troughs and sharp ridges thought to have been glacially sculpted by the Hellas Lobe. It is concluded that glaciation in Hellas occurred during the Middle Amazonian, roughly coeval with glaciation in Argyre.

Johnson, N.↗

Lithologic controls on AIRSAR signatures of bedrock and alluvium, at Lunar Crater, Nevada

Radar backscatter intensity as measured by calibrated synthetic aperture radar (SAR) systems is primarily controlled by three factors: local incidence angle, wavelength-scale roughness, and dielectric permittivity of surface materials. In order to make adequate use of radar observations for geological investigations of surface type, the relationships between lithology and the above characteristics must be adequately understood. In arid terrains weathering signatures (e.g. fracturing, debris grain size and shape, slope characteristics) are controlled to some extent by lithologic characteristics of the parent bedrock. These textural features of outcrops and their associated debris control radar backscatter to varying degrees. The quad-polarization JPL AIRSAR system allows sampling of textures at three distinct wavelength scales: C-band (5.66 cm), L-band (23.98 cm), and P-band (68.13 cm). This paper presents a discussion of AIRSAR data using recent field observations of weathered felsic and basaltic volcanic rock units exposed in the southern part of the Lunar Crater Volcanic Field, in the Pancake Range of central Nevada. The focus is on the relationship of radar backscatter at multiple wavelengths to weathering style and parent bedrock lithology.

Rivard, Benoit↗

A photometric study of Enceladus

We have supplemented Voyager imaging data from Enceladus (limited to phase angles of 13 deg-43 deg) with recent Earth-based CCD observations to obtain an improved determination of the Bond albedo, to construct an albedo map of the satellite, and to constrain parameters in Hapke's (1986) photometric equation. A major result is evidence of regional variations in the physical properties of Enceladus' surface. The average global photometric properties are described by single scattering albedo omega(sub 0) average = 0.998 +/- 0.001, macroscopic roughness parameter theta average = 6 +/- 1 deg, and Henyey-Greenstein asymmetry parameter g = -0.399 +/- 0.005. The value of theta average is smaller than the 14 deg found by fitting whole-disk data, which include all terrains on Enceladus. The opposition surge amplitude B(sub 0) = 0.21 +/- 0.07 and regolith compaction parameter h = 0.014 +/- 0.02 are loosely constrained by the scarcity of and uncertainty in near-opposition observations. From the solar phase curve we determine the geometric albedo of Enceladus p(sub v) = 0.99 +/- 0.06 and phase integral q = 0.92 +/- 0.05, which corresponds to a spherical albedo A = p(sub v)q = 0.91 +/- 0.1. Since the spectrum of Enceladus is fairly flat, we can approximate the Bond albedo A(sub B) with the spherical albedo. Our photometric analysis is summarized in terms of an albedo map which generally reproduces the satellite's observed lightcurve and indicates that normal reflectances range from 0.9 on the leading hemisphere to 1.4 on the trailing one. The albedo map also revels an albedo variation of 15% from longitudes 170 deg to 200 deg, corresponding to the boundary between the leading and trailing hemispheres.

Verbiscer, Anne J.↗

In Situ Surface Characterization

Operation of in situ space assets, such as rovers and landers, requires operators to acquire a thorough understanding of the environment surrounding the spacecraft. The following programs help with that understanding by providing higher-level information characterizing the surface, which is not immediately obvious by just looking at the XYZ terrain data. This software suite covers three primary programs: marsuvw, marsrough, and marsslope, and two secondary programs, which together use XYZ data derived from in situ stereo imagery to characterize the surface by determining surface normal, surface roughness, and various aspects of local slope, respectively. These programs all use the Planetary Image Geometry (PIG) library to read mission-specific data files. The programs themselves are completely multimission; all mission dependencies are handled by PIG. The input data consists of images containing XYZ locations as derived by, e.g., marsxyz. The marsuvw program determines surface normals from XYZ data by gathering XYZ points from an area around each pixel and fitting a plane to those points. Outliers are rejected, and various consistency checks are applied. The result shows the orientation of the local surface at each point as a unit vector. The program can be run in two modes: standard, which is typically used for in situ arm work, and slope, which is typically used for rover mobility. The difference is primarily due to optimizations necessary for the larger patch sizes in the slope case. The marsrough program determines surface roughness in a small area around each pixel, which is defined as the maximum peak-to-peak deviation from the plane perpendicular to the surface normal at that pixel. The marsslope program takes a surface normal file as input and derives one of several slope-like outputs from it. The outputs include slope, slope rover direction (a measure of slope radially away from the rover), slope heading, slope magnitude, northerly tilt, and solar energy (compares the slope with the Sun s location at local noon). The marsuvwproj program projects a surface normal onto an arbitrary plane in space, resulting in a normalized 3D vector, which is constrained to lie in the plane. The marsuvwrot program rotates the vectors in a surface normal file, generating a new surface normal file. It also can change coordinate systems for an existing surface normal file. While the algorithms behind this suite are not particularly unique, what makes the programs useful is their integration into the larger in situ image processing system via the PIG library. They work directly with space in situ data, understanding the appropriate image metadata fields and updating them properly. The secondary programs (marsuvwproj, marsuvwrot) were originally developed to deal with anomalous situations on Opportunity and Spirit, respectively, but may have more general applicability.

Deen, Robert G.↗

Rock Statistics at the Mars Pathfinder Landing Site, Roughness and Roving on Mars

Several rock counts have been carried out at the Mars Pathfinder landing site producing consistent statistics of rock coverage and size-frequency distributions. These rock statistics provide a primary element of "ground truth" for anchoring remote sensing information used to pick the Pathfinder, and future, landing sites. The observed rock population statistics should also be consistent with the emplacement and alteration processes postulated to govern the landing site landscape. The rock population databases can however be used in ways that go beyond the calculation of cumulative number and cumulative area distributions versus rock diameter and height. Since the spatial parameters measured to characterize each rock are determined with stereo image pairs, the rock database serves as a subset of the full landing site digital terrain model (DTM). Insofar as a rock count can be carried out in a speedier, albeit coarser, manner than the full DTM analysis, rock counting offers several operational and scientific products in the near term. Quantitative rock mapping adds further information to the geomorphic study of the landing site, and can also be used for rover traverse planning. Statistical analysis of the surface roughness using the rock count proxy DTM is sufficiently accurate when compared to the full DTM to compare with radar remote sensing roughness measures, and with rover traverse profiles.

Haldemann, A. F. C.↗

Surface roughness estimation at three points on the lunar surface using 23-CM monostatic radar

Differences in quasi-specular scattering by the lunar surface have been observed at 23-cm wavelength by using earth-based radar. By taking advantage of libration, three subradar points were isolated, and distinct scattering laws were identified for terrain near Hipparchus, Sinus Medii, and the crater Schroeter F. Interpretations of lunar radar data should henceforth incorporate a recognition that these variations take place. Unidirectional rms surface slope estimates of 6-8 deg in the Central Highlands and 4-5 deg in old mare are appropriate to horizontal scales of 100 m.

Simpson, R. A.↗