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NASA NTRS2007

Mapped Landmark Algorithm for Precision Landing

A report discusses a computer vision algorithm for position estimation to enable precision landing during planetary descent. The Descent Image Motion Estimation System for the Mars Exploration Rovers has been used as a starting point for creating code for precision, terrain-relative navigation during planetary landing. The algorithm is designed to be general because it handles images taken at different scales and resolutions relative to the map, and can produce mapped landmark matches for any planetary terrain of sufficient texture. These matches provide a measurement of horizontal position relative to a known landing site specified on the surface map. Multiple mapped landmarks generated per image allow for automatic detection and elimination of bad matches. Attitude and position can be generated from each image; this image-based attitude measurement can be used by the onboard navigation filter to improve the attitude estimate, which will improve the position estimates. The algorithm uses normalized correlation of grayscale images, producing precise, sub-pixel images. The algorithm has been broken into two sub-algorithms: (1) FFT Map Matching (see figure), which matches a single large template by correlation in the frequency domain, and (2) Mapped Landmark Refinement, which matches many small templates by correlation in the spatial domain. Each relies on feature selection, the homography transform, and 3D image correlation. The algorithm is implemented in C++ and is rated at Technology Readiness Level (TRL) 4.

Johnson, Andrew↗

NASA NTRS2005

Self-Examination

The operation of the new U.S./Canadian Orbiter Boom Sensor System (OBSS) by the STS-114 Discovery's crew "will be the most complicated space robotics job of the shuttle program," say Paul Hill, lead flight director. The OBSS is a laser-and-imaging-sensor- equipped 50-ft. extension to the existing 50-ft. arm, increasing the shuttle's reach to 100 ft. The return-to-flight mission will debut the autonomous robotic self-inspection capability to detect and possibly aid the repair of the type of damage that doomed Columbia and her crew, were it to occur again. With 3D imaging and laser contour-mapping capability, the OBSS will enable the diagnosis of cracks in reinforced carbon-carbon (RCC) wing and nose areas and thermal protection system (TPS) tiles beyond the view of the standard manipulator arm. Given the major changes to the shuttle external tank, no damage is expected. But the OBSS is a direct response to the Columbia Accident Investigation Board's recommendations. The new boom and a significant amount of its supporting software was developed by MacDonald Dettwiler heads. Space and Advanced Robotics Ltd. (MD Robotics) in Brampton, Ontario, a key contractor in the shuttle program for 25 years. The Canadian Space Agency is also heavily involved in supporting shuttle and International Space Station (ISS) robotics.

Covault, Craig↗

NASA NTRS2018

NASA NeMO-Net

We present preliminary results from NASA NeMO-Net, the first neural multi-modal observation and training network for global coral reef assessment. NeMO-Net is an open-source deep convolutional neural network (CNN) and interactive active learning training software in development which will assess the present and past dynamics of coral reef ecosystems. NeMO-Net exploits active learning and data fusion of mm-scale remotely sensed 3D images of coral reefs captured using fluid lensing with the NASA FluidCam instrument, presently the highest-resolution remote sensing benthic imaging technology capable of removing ocean wave distortion, as well as hyperspectral airborne remote sensing data from the ongoing NASA CORAL mission and lower-resolution satellite data to determine coral reef ecosystem makeup globally at unprecedented spatial and temporal scales. Aquatic ecosystems, particularly coral reefs, remain quantitatively misrepresented by low- resolution remote sensing as a result of refractive distortion from ocean waves, optical attenuation, and remoteness. Machine learning classification of coral reefs using FluidCam mm-scale 3D data show that present satellite and airborne remote sensing techniques poorly characterize coral reef percent living cover, morphology type, and species breakdown at the mm, cm, and meter scales. Indeed, current global assessments of coral reef cover and morphology classification based on km-scale satellite data alone can suffer from segmentation errors greater than 40%, capable of change detection only on yearly temporal scales and decameter spatial scales, significantly hindering our understanding of patterns and processes in marine biodiversity at a time when these ecosystems are experiencing unprecedented anthropogenic pressures, ocean acidification, and sea surface temperature rise. NeMO-Net leverages our augmented machine learning algorithm that demonstrates data fusion of regional FluidCam (mm, cm-scale) airborne remote sensing with global low-resolution (m, km-scale) airborne and spaceborne imagery to reduce classification errors up to 80% over regional scales. Such technologies can substantially enhance our ability to assess coral reef ecosystems dynamics.

NASA↗

NASA NTRS2018

NeMO-Net & Fluid Lensing: The Neural Multi-Modal Observation & Training Network for Global Coral Reef Assessment Using Fluid Lensing Augmentation of NASA EOS Data

We present preliminary results from NASA NeMO-Net, the first neural multi-modal observation and training network for global coral reef assessment. NeMO-Net is an open-source deep convolutional neural network (CNN) and interactive active learning training software in development which will assess the present and past dynamics of coral reef ecosystems. NeMO-Net exploits active learning and data fusion of mm-scale remotely sensed 3D images of coral reefs captured using fluid lensing with the NASA FluidCam instrument, presently the highest-resolution remote sensing benthic imaging technology capable of removing ocean wave distortion, as well as hyperspectral airborne remote sensing data from the ongoing NASA CORAL mission and lower-resolution satellite data to determine coral reef ecosystem makeup globally at unprecedented spatial and temporal scales. Aquatic ecosystems, particularly coral reefs, remain quantitatively misrepresented by low-resolution remote sensing as a result of refractive distortion from ocean waves, optical attenuation, and remoteness. Machine learning classification of coral reefs using FluidCam mm-scale 3D data show that present satellite and airborne remote sensing techniques poorly characterize coral reef percent living cover, morphology type, and species breakdown at the mm, cm, and meter scales. Indeed, current global assessments of coral reef cover and morphology classification based on km-scale satellite data alone can suffer from segmentation errors greater than 40%, capable of change detection only on yearly temporal scales and decameter spatial scales, significantly hindering our understanding of patterns and processes in marine biodiversity at a time when these ecosystems are experiencing unprecedented anthropogenic pressures, ocean acidification, and sea surface temperature rise. NeMO-Net leverages our augmented machine learning algorithm that demonstrates data fusion of regional FluidCam (mm, cm-scale) airborne remote sensing with global low-resolution (m, km-scale) airborne and spaceborne imagery to reduce classification errors up to 80% over regional scales. Such technologies can substantially enhance our ability to assess coral reef ecosystems dynamics.

satellite data↗

NASA NTRS1975

Acquisition of quantitative physiological data and computerized image reconstruction using a single scan TV system

Single scan operation of television X-ray fluoroscopic systems allow both analog and digital reconstruction of tomographic sections from single plan images. This type of system combined with a minimum of statistical processing showed excellent capabilities for delineating small changes in differential X-ray attenuation. Patient dose reduction is significant when compared to normal operation or film recording. Flat screen, low light level systems were both rugged and light in weight, making them applicable for a variety of special purposes. Three dimensional information was available from the tomographic methods and the recorded data was sufficient when used with appropriate computer display devices to give representative 3D images.

Baily, N. A.↗

NASA NTRSDate not supplied

In-Space Inspection Needs: Opportunities for advanced NDE tools such as x-ray CT for additively manufactured parts, in-situ resource utilization, geological applications, and more

It is now 50 years since the first human presence on the surface of the Moon and as we strive to return with women and men in the next few years, we embrace new technical challenges, goals, and innovative solutions to address 21st century objectives. These new ambitions carry fresh challenges and risks, with the field of NDE playing an increasingly more relevant role towards meeting these essential goals. In recent years, more advanced NDE tools have triggered a rapid expansion of applications for the space industry. In particular, x-ray Computed Tomography (CT) has proven to be a trusted and powerful asset for spaceflight hardware inspection, as well as applied geotechnical analysis for natural materials (e.g., rocks, soils) for NASA and across industry. However, such methods have yet to be extended to “deep space” applications such as those that are now part of the US National Space Policy Directive (SPD-1) and the accelerated push to return humans to the Moon (i.e., Artemis). For this reason, advancing these powerful Earth-based laboratory methods via new technologies, integrated computational solutions, and creative engineering approaches is directly aligned with national space policies, as well as with multiple NASA Strategic Plan priorities. The use of x-ray CT at scales as fine as a few microns or smaller can identify spacecraft part failure modes relevant to quality assurance for flight hardware and AM parts such as those recently developed for ISS. This technology could also identify valuable metallic phases within geological materials (i.e., rocks or drill cores), enabling resource-relevant triage of samples for In-Situ Resource Utilization (ISRU) and high science value sample return to Earth laboratories. There is also significant application for 3D imaging tools for medical use such as inspecting protective gear as well as bone density degradation studies which are critical in establishing a sustained presence in space. Timing for development of these tools for space use is advantageous as we prepare for new opportunities in the next few years and recognize recent commercial technology advancements which make it feasible. Moreover, as NASA strives to take full advantage of developments in AM technologies, including In-Space Manufacturing (ISM), it is widely recognized that NDE tools such as CT will play an essential role in acceptance of these parts for widespread use. New in-space 3D inspection tools with complimentary technology such as AI-based automated feature recognition (accelerated by machine learning), rapid compositional analysis, and advanced sample manipulation, would be a game-changing step toward a new class of crew-based laboratory sensors once human outposts on the Moon are established.

In-Space Non-Destructive Evaluation↗

NASA NTRS2007

Infrared Imaging System for Studying Brain Function

A proposed special-purpose infrared imaging system would be a compact, portable, less-expensive alternative to functional magnetic resonance imaging (fMRI) systems heretofore used to study brain function. Whereas a typical fMRI system fills a large room, and must be magnetically isolated, this system would fit into a bicycle helmet. The system would include an assembly that would be mounted inside the padding in a modified bicycle helmet or other suitable headgear. The assembly would include newly designed infrared photodetectors and data-acquisition circuits on integrated-circuit chips on low-thermal-conductivity supports in evacuated housings (see figure) arranged in multiple rows and columns that would define image coordinates. Each housing would be spring-loaded against the wearer s head. The chips would be cooled by a small Stirling Engine mounted contiguous to, but thermally isolated from, the portions of the assembly in thermal contact with the wearer s head. Flexible wires or cables for transmitting data from the aforementioned chips would be routed to an integrated, multichannel transmitter and thence through the top of the assembly to a patch antenna on the outside of the helmet. The multiple streams of data from the infrared-detector chips would be sent to a remote site, where they would be processed, by software, into a three-dimensional display of evoked potentials that would represent firing neuronal bundles and thereby indicate locations of neuronal activity associated with mental or physical activity. The 3D images will be analogous to current fMRI images. The data would also be made available, in real-time, for comparison with data in local or internationally accessible relational databases that already exist in universities and research centers. Hence, this system could be used in research on, and for the diagnosis of response from the wearer s brain to physiological, psychological, and environmental changes in real time. The images would also be stored in a relational database for comparison with corresponding responses previously observed in other subjects.

Mintz, Frederick↗

NASA NTRS2013

Spinoff 2012

Topics covered include: Water Treatment Technologies Inspire Healthy Beverages; Dietary Formulas Fortify Antioxidant Supplements; Rovers Pave the Way for Hospital Robots; Dry Electrodes Facilitate Remote Health Monitoring; Telescope Innovations Improve Speed, Accuracy of Eye Surgery; Superconductors Enable Lower Cost MRI Systems; Anti-Icing Formulas Prevent Train Delays; Shuttle Repair Tools Automate Vehicle Maintenance; Pressure-Sensitive Paints Advance Rotorcraft Design Testing; Speech Recognition Interfaces Improve Flight Safety; Polymers Advance Heat Management Materials for Vehicles; Wireless Sensors Pinpoint Rotorcraft Troubles; Ultrasonic Detectors Safely Identify Dangerous, Costly Leaks; Detectors Ensure Function, Safety of Aircraft Wiring; Emergency Systems Save Tens of Thousands of Lives; Oxygen Assessments Ensure Safer Medical Devices; Collaborative Platforms Aid Emergency Decision Making; Space-Inspired Trailers Encourage Exploration on Earth; Ultra-Thin Coatings Beautify Art; Spacesuit Materials Add Comfort to Undergarments; Gigapixel Images Connect Sports Teams with Fans; Satellite Maps Deliver More Realistic Gaming; Elemental Scanning Devices Authenticate Works of Art; Microradiometers Reveal Ocean Health, Climate Change; Sensors Enable Plants to Text Message Farmers; Efficient Cells Cut the Cost of Solar Power; Shuttle Topography Data Inform Solar Power Analysis; Photocatalytic Solutions Create Self-Cleaning Surfaces; Concentrators Enhance Solar Power Systems; Innovative Coatings Potentially Lower Facility Maintenance Costs; Simulation Packages Expand Aircraft Design Options; Web Solutions Inspire Cloud Computing Software; Behavior Prediction Tools Strengthen Nanoelectronics; Power Converters Secure Electronics in Harsh Environments; Diagnostics Tools Identify Faults Prior to Failure; Archiving Innovations Preserve Essential Historical Records; Meter Designs Reduce Operation Costs for Industry; Commercial Platforms Allow Affordable Space Research; Fiber Optics Deliver Real-Time Structural Monitoring; Camera Systems Rapidly Scan Large Structures; Terahertz Lasers Reveal Information for 3D Images; Thin Films Protect Electronics from Heat and Radiation; Interferometers Sharpen Measurements for Better Telescopes; and Vision Systems Illuminate Industrial Processes.

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NASA NTRS2007

Automated Recognition of 3D Features in GPIR Images

A method of automated recognition of three-dimensional (3D) features in images generated by ground-penetrating imaging radar (GPIR) is undergoing development. GPIR 3D images can be analyzed to detect and identify such subsurface features as pipes and other utility conduits. Until now, much of the analysis of GPIR images has been performed manually by expert operators who must visually identify and track each feature. The present method is intended to satisfy a need for more efficient and accurate analysis by means of algorithms that can automatically identify and track subsurface features, with minimal supervision by human operators. In this method, data from multiple sources (for example, data on different features extracted by different algorithms) are fused together for identifying subsurface objects. The algorithms of this method can be classified in several different ways. In one classification, the algorithms fall into three classes: (1) image-processing algorithms, (2) feature- extraction algorithms, and (3) a multiaxis data-fusion/pattern-recognition algorithm that includes a combination of machine-learning, pattern-recognition, and object-linking algorithms. The image-processing class includes preprocessing algorithms for reducing noise and enhancing target features for pattern recognition. The feature-extraction algorithms operate on preprocessed data to extract such specific features in images as two-dimensional (2D) slices of a pipe. Then the multiaxis data-fusion/ pattern-recognition algorithm identifies, classifies, and reconstructs 3D objects from the extracted features. In this process, multiple 2D features extracted by use of different algorithms and representing views along different directions are used to identify and reconstruct 3D objects. In object linking, which is an essential part of this process, features identified in successive 2D slices and located within a threshold radius of identical features in adjacent slices are linked in a directed-graph data structure. Relative to past approaches, this multiaxis approach offers the advantages of more reliable detections, better discrimination of objects, and provision of redundant information, which can be helpful in filling gaps in feature recognition by one of the component algorithms. The image-processing class also includes postprocessing algorithms that enhance identified features to prepare them for further scrutiny by human analysts (see figure). Enhancement of images as a postprocessing step is a significant departure from traditional practice, in which enhancement of images is a preprocessing step.

Park, Han↗

NASA NTRS1993

Venus in 3D

Stereographic images of the surface of Venus which enable geologists to reconstruct the details of the planet's evolution are discussed. The 120-meter resolution of these 3D images make it possible to construct digital topographic maps from which precise measurements can be made of the heights, depths, slopes, and volumes of geologic structures.

Plaut, Jeffrey J.↗

NASA NTRS1989

Animation graphic interface for the space shuttle onboard computer

Graphics interfaces designed to operate on space qualified hardware challenge software designers to display complex information under processing power and physical size constraints. Under contract to Johnson Space Center, MICROEXPERT Systems is currently constructing an intelligent interface for the LASER DOCKING SENSOR (LDS) flight experiment. Part of this interface is a graphic animation display for Rendezvous and Proximity Operations. The displays have been designed in consultation with Shuttle astronauts. The displays show multiple views of a satellite relative to the shuttle, coupled with numeric attitude information. The graphics are generated using position data received by the Shuttle Payload and General Support Computer (PGSC) from the Laser Docking Sensor. Some of the design considerations include crew member preferences in graphic data representation, single versus multiple window displays, mission tailoring of graphic displays, realistic 3D images versus generic icon representations of real objects, the physical relationship of the observers to the graphic display, how numeric or textual information should interface with graphic data, in what frame of reference objects should be portrayed, recognizing conditions of display information-overload, and screen format and placement consistency.

Wike, Jeffrey↗

NASA NTRS1989

Holographic diagnostics of breakup phenomena of impinging jets for liquid rocket motor applications

The use of pulsed laser holography in analyzing the atomization of impinging jets is evaluated using a holographic camera system capable of recording a 3D image of the atomization process in 3 x 10 exp -8 seconds. The holocamera and the experimental configuration and procedure are described in detail. Two nozzles were fabricated to produce 1-mm diameter liquid water jets that impinged at 60 and 90 deg. Holograms were obtained for each nozzle at liquid velocities of 20 and 40 m/s. Analysis of the holograms revealed the evolution of the jets from the plane of emergence through the region of droplet formation. Features of interest included the growth of disturbances prior to the breakup region and the effect of these disturbances on the formation of ligaments and liquid globules. Preliminary analyses show that waves of atomized liquid formed after impingement are closely correlated to waves measured on the jets, leading to the possibility of controlling the atomization process at the nozzle.

Hess, C. F.↗

NASA NTRS1993

A new MAP for Mars

A Mars Aerial Platform (MAP) mission capable of generating thousands of very-high-resolution (20 cm/pixel) pictures of the Martian surface is considered. The MAP entry vehicle will map the global circulation of the planet's atmosphere and examine the surface and subsurface. Data acquisition will use instruments carried aboard balloons flying at nominal altitude of about 7 km over the Martian surface. The MAP balloons will take high- and medium-resolution photographs of Mars, sound its surface with radar, and provide tracking data to chart its winds. Mars vehicle design is based on the fourth-generation NTP, NEP, SEP vehicle set that provides a solid database for determining transportation system costs. Interference analysis and 3D image generation are performed using manual system sizing and sketching in conjunction with precise CAD modeling.

Zubrin, Robert↗

NASA NTRS1999

The Effect of Spaceflight on Bone Cell Cultures

Understanding the response of bone to mechanical loading (unloading) is extremely important in defining the means of adaptation of the body to a variety of environmental conditions such as during heightened physical activity or in extended explorations of space or the sea floor. The mechanisms of the adaptive response of bone are not well defined, but undoubtedly they involve changes occurring at the cellular level of bone structure. This proposal has intended to examine the hypothesis that the loading (unloading) response of bone is mediated by specific cells through modifications of their activity cytoskeletal elements, and/or elaboration of their extracellular matrices. For this purpose, this laboratory has utilized the results of a number of previous studies defining molecular biological, biochemical, morphological, and ultrastructural events of the reproducible mineralization of a primary bone cell (osteoblast) culture system under normal loading (1G gravity level). These data and the culture system then were examined following the use of the cultures in two NASA shuttle flights, STS-59 and STS-63. The cells collected from each of the flights were compared to respective synchronous ground (1G) control cells examined as the flight samples were simultaneously analyzed and to other control cells maintained at 1G until the time of shuttle launch, at which point they were terminated and studied (defined as basal cells). Each of the cell cultures was assayed in terms of metabolic markers- gene expression; synthesis and secretion of collagen and non-collagenous proteins, including certain cytoskeletal components; assembly of collagen into macrostructural arrays- formation of mineral; and interaction of collagen and mineral crystals during calcification of the cultures. The work has utilized a combination of biochemical techniques (radiolabeling, electrophoresis, fluorography, Western and Northern Blotting, and light microscopic immunofluorescence) and structural methods (conventional and high voltage electron microscopy, inununocytochemistry, stereomicroscopy, and 3D image reconstruction). The studies have provided new knowledge of aspects of bone cell development and structural regulation, extracellular matrix assembly, and mineralization during spaceflight and under normal gravity. The information has contributed to insights into the means in general by which cells respond and adapt to different conditions of gravity (loading). The data may as well have suggested an underlying basis for the observed loss of bone by vertebrates, including man, in microgravity; and these scientific results may have implications for understanding bone loss following fracture healing and extended periods of inactivity such as during long-term bedrest.

Landis, William J.↗

NASA NTRS1999

An overview of vertebrate mineralization with emphasis on collagen-mineral interaction

The nucleation, growth, and development of mineral crystals through their interaction principally with collagen in normal bone and calcifying tendon have been elaborated by applying a number of different techniques for analysis of the inorganic and organic constituents of these tissues. The methods have included conventional and high voltage electron microscopy, electron diffraction, microscopic tomography and 3D image reconstruction, and atomic force microscopy. This summary presents results of these studies that have now characterized the size, shape, and aspects of the chemical nature of the crystals as well as their orientation, alignment, location, and distribution with respect to collagen. These data have provided the means for understanding more completely the formation and strength of the collagen-mineral composite present in most vertebrate calcifying tissues and, from that information, a basis for the adaptation of such tissues under mechanical constraints. In the context of the latter point, other data are given showing effects on collagen in bone cell cultures subjected to the unloading parameters of spaceflight. Implications of these results may be particularly relevant to explaining loss of bone by humans and other vertebrate animals during missions in space, during situations of extended fracture healing, long-term bedrest, physical immobilization, and related conditions. In a broader sense, the data speak to the response of bone and mineralized vertebrate tissues to changes in gravitational loading and applied mechanical forces in general.

Non-NASA Center↗

NASA NTRS2005

New Sensor Technology

The three instruments on the Orbiter Boom Sensor System (OBSS) will use a mix of U.S. and Canadian developed laser, television, infrared, and 3D imaging technologies. The sensors are the: 1) Laser Dynamic Range Imager (LDRI); 2) Intensified Television Camera (ITVC); 3) Laser Camera System (LCS).

Covault, Craig↗

NASA NTRS2007

STEREO Education and Public Outreach Efforts

STEREO has had a big year this year with its launch and the start of data collection. STEREO has mostly focused on informal educational venues, most notably with STEREO 3D images made available to museums through the NASA Museum Alliance. Other activities have involved making STEREO imagery available though the AMNH network and Viewspace, continued partnership with the Christa McAuliffe Planetarium, data sonification projects, preservice teacher training, and learning activity development.

Kucera, Therese↗

NASA NTRS2009

NASA Tech Briefs, December 2009

Topics include: A Deep Space Network Portable Radio Science Receiver; Detecting Phase Boundaries in Hard-Sphere Suspensions; Low-Complexity Lossless and Near-Lossless Data Compression Technique for Multispectral Imagery; Very-Long-Distance Remote Hearing and Vibrometry; Using GPS to Detect Imminent Tsunamis; Stream Flow Prediction by Remote Sensing and Genetic Programming; Pilotless Frame Synchronization Using LDPC Code Constraints; Radiometer on a Chip; Measuring Luminescence Lifetime With Help of a DSP; Modulation Based on Probability Density Functions; Ku Telemetry Modulator for Suborbital Vehicles; Photonic Links for High-Performance Arraying of Antennas; Reconfigurable, Bi-Directional Flexfet Level Shifter for Low-Power, Rad-Hard Integration; Hardware-Efficient Monitoring of I/O Signals; Video System for Viewing From a Remote or Windowless Cockpit; Spacesuit Data Display and Management System; IEEE 1394 Hub With Fault Containment; Compact, Miniature MMIC Receiver Modules for an MMIC Array Spectrograph; Waveguide Transition for Submillimeter-Wave MMICs; Magnetic-Field-Tunable Superconducting Rectifier; Bonded Invar Clip Removal Using Foil Heaters; Fabricating Radial Groove Gratings Using Projection Photolithography; Gratings Fabricated on Flat Surfaces and Reproduced on Non-Flat Substrates; Method for Measuring the Volume-Scattering Function of Water; Method of Heating a Foam-Based Catalyst Bed; Small Deflection Energy Analyzer for Energy and Angular Distributions; Polymeric Bladder for Storing Liquid Oxygen; Pyrotechnic Simulator/Stray-Voltage Detector; Inventions Utilizing Microfluidics and Colloidal Particles; RuO2 Thermometer for Ultra-Low Temperatures; Ultra-Compact, High-Resolution LADAR System for 3D Imaging; Dual-Channel Multi-Purpose Telescope; Objective Lens Optimized for Wavefront Delivery, Pupil Imaging, and Pupil Ghosting; CMOS Camera Array With Onboard Memory; Quickly Approximating the Distance Between Two Objects; Processing Images of Craters for Spacecraft Navigation; Adaptive Morphological Feature-Based Object Classifier for a Color Imaging System; Rover Slip Validation and Prediction Algorithm; Safety and Quality Training Simulator; Supply-Chain Optimization Template; Algorithm for Computing Particle/Surface Interactions; Cryogenic Pupil Alignment Test Architecture for Aberrated Pupil Images; and Thermal Transport Model for Heat Sink Design.

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