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The CGM dataset is used to describe pointing geometry of the nine MISR cameras. It consists of a set of parameters used in a mathematical expression that gives the pointing direction of an arbitrary pixel in the spacecraft attitude frame of reference. These parameters represent the geometry of the camera system and account for distortions from an ideal optical system..
The purpose of the Rosetta mission is the in situ analysis of a cometary nucleus using both remote sensing equipment and scientific instruments delivered to the comet surface by a lander and transmitting measurement data to the comet-orbiting probe. Following a tour of planets including one Mars swing-by and three Earth swing-bys, the Rosetta probe is scheduled to rendezvous with comet 67P/Churyumov-Gerasimenko in May 2014. The mission poses various flight dynamics challenges, both in terms of parameter estimation and maneuver planning. Along with spacecraft parameters, the comet's position, velocity, attitude, angular velocity, inertia tensor and gravitatonal field need to be estimated. The measurements on which the estimation process is based are ground-based measurements (range and Doppler) yielding information on the heliocentric spacecraft state and images taken by an on-board camera yielding informaton on the comet state relative to the spacecraft. The image-based navigation depends on te identification of cometary landmarks (whose body coordinates also need to be estimated in the process). The paper will describe the estimation process involved, focusing on the phase when, after orbit insertion, the task arises to estimate the cometary rotational motion from camera images on which individual landmarks begin to become identifiable.
In November of 2007 we demonstrated a monolithic Backshort-Under-Grid (BUG) 8x16 array in the field using our 2 mm wavelength imager GISMO (Goddard IRAM Superconducting 2 Millimeter Observer) at the IRAM 30 m telescope in Spain for astronomical observations. The 2 mm spectral range provides a unique terrestrial window enabling ground-based observations of the earliest active dusty galaxies in the universe and thereby allowing a better constraint on the star formation rate in these objects. The optical design incorporates a 100 mm diameter silicon lens cooled to 4 K, which provides the required fast beam yielding 0.9 lambda/D pixels. With this spatial sampling, GISMO will be very efficient at detecting sources serendipitously in large sky surveys, while the capability for diffraction limited imaging is preserved. The camera provides significantly greater detection sensitivity and mapping speed at this wavelength than has previously been possible. The instrument will fill in the spectral energy distribution of high redshift galaxies at the Rayleigh-Jeans part of the dust emission spectrum, even at the highest redshifts. Here1 will we present early results from our observing run with the first fielded BUG bolometer array. We have developed key technologies to enable highly versatile, kilopixel, infrared through millimeter wavelength bolometer arrays. The Backshort-Under-Grid (BUG) array consists of three components: 1) a transition-edge-sensor (TES) based bolometer array with background-limited sensitivity and high filling factor, 2) a quarter-wave reflective backshort grid providing high optical efficiency, and 3) a superconducting bump-bonded large format Superconducting Quantum Interference Device (SQUID) multiplexer readout. The array is described in more detail elsewhere (Allen et al., this conference). In November of 2007 we demonstrated a monolithic 8x 16 array with 2 mm-pitch detectors in the field using our 2 mm wavelength imager GISMO (Goddard IRAM Superconducting 2 Millimeter Observer) at the IRAM 30 m telescope in Spain for astronomical observations. The 2 mm spectral range provides a unique terrestrial window enabling ground-based observations of the earliest active dusty galaxies in the universe and thereby allowing a better constraint on the star formation rate in these objects. The optical design incorporates a 100 mm diameter silicon lens cooled to 4 K, which provides the required fast beam yielding 0.9 lambda1D pixels. With this spatial sampling, GISMO will be very efficient at detecting sources serendipitously in large sky surveys, while the capability for diffraction limited imaging is preserved. The camera provides significantly greater detection sensitivity and mapping speed at this wavelength than has previously been possible. The instrument will fill in the spectral energy distribution of high redshift galaxies at the Rayleigh-Jeans part of the dust emission spectrum, even at the highest redshifts. Here I will we present early results from our observing run with the first fielded BUG bolometer array.
Wide Field Camera 3 (WFC3) is a powerful UV/visible/near-infrared camera in development for installation into the Hubble Space Telescope during upcoming Servicing Mission 4. WFC3 provides two imaging channels. The UVIS channel incorporates a 4096 x 4096 pixel CCD focal plane with sensitivity from 200 to 1000 nm. The IR channel features a 1024 x 1024 pixel HgCdTe focal plane covering 850 to 1700 nm. We report here on the design of the instrument, the performance of its flight detectors, results of the ground test and calibration program, and the plans for the Servicing Mission installation and checkout.
If you wish to explore a Martian landscape without leaving your armchair, a few simple clicks around the NASA Web site will lead you to panoramic photographs taken from the Mars Exploration Rovers, Spirit and Opportunity. Many of the technologies that enable this spectacular Mars photography have also inspired advancements in photography here on Earth, including the panoramic camera (Pancam) and its housing assembly, designed by the Jet Propulsion Laboratory and Cornell University for the Mars missions. Mounted atop each rover, the Pancam mast assembly (PMA) can tilt a full 180 degrees and swivel 360 degrees, allowing for a complete, highly detailed view of the Martian landscape. The rover Pancams take small, 1 megapixel (1 million pixel) digital photographs, which are stitched together into large panoramas that sometimes measure 4 by 24 megapixels. The Pancam software performs some image correction and stitching after the photographs are transmitted back to Earth. Different lens filters and a spectrometer also assist scientists in their analyses of infrared radiation from the objects in the photographs. These photographs from Mars spurred developers to begin thinking in terms of larger and higher quality images: super-sized digital pictures, or gigapixels, which are images composed of 1 billion or more pixels. Gigapixel images are more than 200 times the size captured by today s standard 4 megapixel digital camera. Although originally created for the Mars missions, the detail provided by these large photographs allows for many purposes, not all of which are limited to extraterrestrial photography.
A proposed wideangle lens is shown that would be especially well suited for an electronic camera in which the focal plane is occupied by an image sensor that has small pixels. The design of the lens is intended to satisfy requirements for compactness, high image quality, and reasonably low cost, while addressing issues peculiar to the operation of small-pixel image sensors. Hence, this design is expected to enable the development of a new generation of compact, high-performance electronic cameras. The lens example shown has a 60 degree field of view and a relative aperture (f-number) of 3.2. The main issues affecting the design are also shown.
The HST/Wide Field Camera (WFC) 3 UV/visible channel CCD detectors have exhibited an unanticipated quantum efficiency hysteresis (QEH) behavior. At the nominal operating temperature of -83C, the QEH feature contrast was typically 0.1-0.2% or less. The behavior was replicated using flight spare detectors. A visible light flat-field (540nm) with a several times full-well signal level can pin the detectors at both optical (600nm) and near-UV (230nm) wavelengths, suppressing the QEH behavior. We are characterizing the timescale for the detectors to become unpinned and developing a protocol for flashing the WFC3 CCDs with the instrument's internal calibration system in flight. The HST/Wide Field Camera 3 UV/visible channel CCD detectors have exhibited an unanticipated quantum efficiency hysteresis (QEH) behavior. The first observed manifestation of QEH was the presence in a small percentage of flat-field images of a bowtie-shaped contrast that spanned the width of each chip. At the nominal operating temperature of -83C, the contrast observed for this feature was typically 0.1-0.2% or less, though at warmer temperatures contrasts up to 5% (at -50C) have been observed. The bowtie morphology was replicated using flight spare detectors in tests at the GSFC Detector Characterization Laboratory by power cycling the detector while cold. Continued investigation revealed that a clearly-related global QE suppression at the approximately 5% level can be produced by cooling the detector in the dark; subsequent flat-field exposures at a constant illumination show asymptotically increasing response. This QE "pinning" can be achieved with a single high signal flat-field or a series of lower signal flats; a visible light (500-580nm) flat-field with a signal level of several hundred thousand electrons per pixel is sufficient for QE pinning at both optical (600nm) and near-UV (230nm) wavelengths. We are characterizing the timescale for the detectors to become unpinned and developing a protocol for flashing the WFC3 CCDs with the instrument's internal calibration system in flight. A preliminary estimate of the decay timescale for one detector is that a drop of 0.1-0.2% occurs over a ten day period, indicating that relatively infrequent cal lamp exposures can mitigate the behavior to extremely low levels.
Nondestructive testing (NDT) community has been moving towards effective and robust inspection systems that can provide real-time information about materials, geometrical, structural and mechanical characteristics of composite materials/structures. Moreover, in many applications it is desired to have an image of the structure, after which the information contained in the image is correlated to the above characteristics. Microwave signals penetrate inside of dielectric composite structures and their interaction with the interior of the structure renders critical information for NDT purposes. Subsequently, this information (i.e., magnitude and phase or reflected signal) may be used to produce an image of the interior of the structure revealing potential flaws or anomalies. Image processing and reconstruction techniques may also be incorporated to produce high-resolution images (i.e., synthetic-aperture, back-propagation, etc.). There are several different approaches for designing areal-time microwave camera system. One approach is based on modulated scatterer technique (MST), which is used to tag scattered electric field in a discrete two-dimensional (2D) spatial domain (e.g. a retina) resulting in the 2D magnitude and phase distribution of the scattered electric field which is required for producing an image of a material or structure under inspection. The ability to rapidly modulate resonant slot antennas in such a retina along with using receivers with fast responses provide for real-time image production capability. Design issue and criteria become more challenging at higher frequencies and for a relatively large retina size. This paper presents the basic design and challenges for a microwave camera with a retina size of 6" by 6" operating at a frequency of 24 GHz.
A compact CMOS (complementary metal oxide semiconductor) camera system has been developed with high resolution (1.3 Megapixels), a USB (universal serial bus) 2.0 interface, and an onboard memory. Exposure times, and other operating parameters, are sent from a control PC via the USB port. Data from the camera can be received via the USB port and the interface allows for simple control and data capture through a laptop computer.
This slide presentation reviews the Neutron Imaging Camera. The presentation also includes information about neutron imaging, neutron interactions, and camera field testing.
The Earth Sciences Decadal Survey identifies a multiangle, multispectral, high-accuracy polarization imager as one requirement for the Aerosol-Cloud-Ecosystem (ACE) mission. JPL has been developing a Multiangle SpectroPolarimetric Imager (MSPI) as a candidate to fill this need. A key technology development needed for MSPI is on-board signal processing to calculate polarimetry data as imaged by each of the 9 cameras forming the instrument. With funding from NASA's Advanced Information Systems Technology (AIST) Program, JPL is solving the real-time data processing requirements to demonstrate, for the first time, how signal data at 95 Mbytes/sec over 16-channels for each of the 9 multiangle cameras in the spaceborne instrument can be reduced on-board to 0.45 Mbytes/sec. This will produce the intensity and polarization data needed to characterize aerosol and cloud microphysical properties. Using the Xilinx Virtex-5 FPGA including PowerPC440 processors we have implemented a least squares fitting algorithm that extracts intensity and polarimetric parameters in real-time, thereby substantially reducing the image data volume for spacecraft downlink without loss of science information.
The Optical Navigation Camera (ONC) is a technical demonstration slated to fly on NASA"s Mars Reconnaissance Orbiter in 2005. Conventional navigation methods have reduced accuracy in the days immediately preceding Mars orbit insertion. The resulting uncertainty in spacecraft location limits rover landing sites to relatively safe areas, away from interesting features that may harbor clues to past life on the planet. The ONC will provide accurate navigation on approach for future missions by measuring the locations of the satellites of Mars relative to background stars. Because Mars will be a bright extended object just outside the camera"s field of view, stray light control at small angles is essential. The ONC optomechanical design was analyzed by stray light experts and appropriate baffles were implemented. However, stray light testing revealed significantly higher levels of light than expected at the most critical angles. The primary error source proved to be the interface between ground glass surfaces (and the paint that had been applied to them) and the polished surfaces of the lenses. This paper will describe troubleshooting and correction of the problem, as well as other lessons learned that affected stray light performance.
The Near Infrared Camera (NIRCam) is one of the four science instruments of the James Webb Space Telescope (JWST). Its high sensitivity, high spatial resolution images over the 0.6 - 5 microns wavelength region will be essential for making significant findings in many science areas as well as for aligning the JWST primary mirror segments and telescope. The NIRCam engineering test unit was recently assembled and has undergone successful cryogenic testing. The NIRCam collimator and camera optics and their mountings are also progressing, with a brass-board system demonstrating relatively low wavefront error across a wide field of view. The flight model?s long-wavelength Si grisms have been fabricated, and its coronagraph masks are now being made. Both the short (0.6 - 2.3 microns) and long (2.4 - 5.0 microns) wavelength flight detectors show good performance and are undergoing final assembly and testing. The flight model subsystems should all be completed later this year through early 2011, and NIRCam will be cryogenically tested in the first half of 2011 before delivery to the JWST integrated science instrument module (ISIM).
Theodolites are a common instrument in the testing, alignment, and building of various systems ranging from a single optical component to an entire instrument. They provide a precise way to measure horizontal and vertical angles. They can be used to align multiple objects in a desired way at specific angles. They can also be used to reference a specific location or orientation of an object that has moved. Some systems may require a small margin of error in position of components. A theodolite can assist with accurately measuring and/or minimizing that error. The technology is an adapter for a CCD camera with lens to attach to a Leica Wild T3000 Theodolite eyepiece that enables viewing on a connected monitor, and thus can be utilized with multiple theodolites simultaneously. This technology removes a substantial part of human error by relying on the CCD camera and monitors. It also allows image recording of the alignment, and therefore provides a quantitative means to measure such error.
The Reionization And Transient Infra-Red (RATIR) camera has been built for rapid Gamma-Ray Burst (GRE) followup and will provide simultaneous optical and infrared photometric capabilities. The infrared portion of this camera incorporates two Teledyne HgCdTe HAWAII-2RG detectors, controlled by Teledyne's SIDECAR ASICs. While other ground-based systems have used the SIDECAR before, this system also utilizes Teledyne's JADE2 interface card and IDE development environment. Together, this setup comprises Teledyne's Development Kit, which is a bundled solution that can be efficiently integrated into future ground-based systems. In this presentation, we characterize the system's read noise, dark current, and conversion gain.
A portable remote sensing system for precision column measurements of methane has been developed, built and tested at NASA GSFC. The sensor covers the spectral range from 1.636 micrometers to 1.646 micrometers, employs an air-gapped Fabry-Perot filter and a CCD camera and has a potential to operate from a variety of platforms. The detector is an XS-1.7-320 camera unit from Xenics Infrared solutions which combines an uncooled InGaAs detector array working up to 1.7 micrometers. Custom software was developed in addition to the graphical user basic interface X-Control provided by the company to help save and process the data. The technique and setup can be used to measure other trace gases in the atmosphere with minimal changes of the etalon and the prefilter. In this paper we describe the calibration of the system using several different approaches.
This software evaluates the terrain within reach of a lander s robotic arm for dig hazards using a stereo pair of cameras that are part of the lander s sensor system. A relative level of risk is calculated for a set of dig sectors. There are two versions of this software; one is designed to run onboard a lander as part of the flight software, and the other runs on a PC under Linux as a ground tool that produces the same results generated on the lander, given stereo images acquired by the lander and downlinked to Earth. Onboard dig hazard assessment is accomplished by executing a workspace panorama command sequence. This sequence acquires a set of stereo pairs of images of the terrain the arm can reach, generates a set of candidate dig sectors, and assesses the dig hazard of each candidate dig sector. The 3D perimeter points of candidate dig sectors are generated using configurable parameters. A 3D reconstruction of the terrain in front of the lander is generated using a set of stereo images acquired from the mast cameras. The 3D reconstruction is used to evaluate the dig goodness of each candidate dig sector based on a set of eight metrics. The eight metrics are: 1. The maximum change in elevation in each sector, 2. The elevation standard deviation in each sector, 3. The forward tilt of each sector with respect to the payload frame, 4. The side tilt of each sector with respect to the payload frame, 5. The maximum size of missing data regions in each sector, 6. The percentage of a sector that has missing data, 7. The roughness of each sector, and 8. Monochrome intensity standard deviation of each sector. Each of the eight metrics forms a goodness image layer where the goodness value of each sector ranges from 0 to 1. Goodness values of 0 and 1 correspond to high and low risk, respectively. For each dig sector, the eight goodness values are merged by selecting the lowest one. Including the merged goodness image layer, there are nine goodness image layers for each stereo pair of mast images.
Stereo imaging is a technique commonly employed for vision-based navigation. For such applications, two images are acquired from different vantage points and then compared using transformations to extract depth information. The technique is commonly used in robotics for obstacle avoidance or for Simultaneous Localization And Mapping, (SLAM). Yet, the process requires a number of image processing steps and therefore tends to be CPU-intensive, which limits the real-time data rate and use in power-limited applications. Evaluated here is a technique where a monocular camera is used for vision-based odometry. In this work, an optical flow technique with feature recognition is performed to generate odometry measurements. The visual odometry sensor measurements are intended to be used as control inputs or measurements in a sensor fusion algorithm using low-cost MEMS based inertial sensors to provide improved localization information. Presented here are visual odometry results which demonstrate the challenges associated with using ground-pointing cameras for visual odometry. The focus is for rover-based robotic applications for localization within GPS-denied environments.