Telerobotics: problems and research needs

With major emphasis on simulation, a university laboratory telerobotics facility permits problems to be approached by groups of graduate students. Helmet-mounded displays provide realism; the slaving of the display to the human operator's viewpoint gives a sense of `telepresence' that may be useful for prolonged tasks. Using top-down 3-D model control of distant images allows distant images to be reduced to a few parameters to update the model used for display to the human operator in a preview model to circumvent, in part, the communication delay. Also, the model can be used as a format for supervisory control and permit short-term local autonomous operations. Image processing algorithms can be made simpler and faster without trying to construct sensible images from the bottom. Control studies of telerobots lead to preferential manual control modes and, in this university environment, to basic paradigms for human motion and thence, perhaps, to redesign of robotic control, trajectory path planning, and rehabilitation prosthetics. Speculation as to future industrial drives for this telerobotic field suggests efficient roles for government agencies such as NASA     

Impact of Distance Determinations on Galactic Structure. I. Young and Intermediate-Age Tracers

Here we discuss impacts of distance determinations on the Galactic disk traced by relatively young objects. The Galactic disk, \(\sim40~\mbox{kpc}\) in diameter, is a cross-road of studies on the methods of measuring distances, interstellar extinction, evolution of galaxies, and other subjects of interest in astronomy. A proper treatment of interstellar extinction is, for example, crucial for estimating distances to stars in the disk outside the small range of the solar neighborhood. We’ll review the current status of relevant studies and discuss some new approaches to the extinction law. When the extinction law is reasonably constrained, distance indicators found in today and future surveys are telling us stellar distribution and more throughout the Galactic disk. Among several useful distance indicators, the focus of this review is Cepheids and open clusters (especially contact binaries in clusters). These tracers are particularly useful for addressing the metallicity gradient of the Galactic disk, an important feature for which comparison between observations and theoretical models can reveal the evolution of the disk.     

Deriving the Absolute Reflectance of Lunar Surface Using SELENE (Kaguya) Multiband Imager Data

The absolute reflectance of the Moon has long been debated because it has been suggested (Hillier et al. in Icarus 151:205–225, 1999) that there is a large discrepancy between the absolute reflectance of the Moon derived from Earth-based telescopic data and that derived from remote-sensing data which are calibrated using laboratory-measured reflectance spectra of Apollo 16 bulk soil 62231. Here we derive the absolute reflectance of the lunar surface using spectral data newly acquired by SELENE (Kaguya) Multiband Imager and Spectral Profiler. The results indicate that the reflectance of the Apollo 16 standard site, which has been widely used as an optical standard in previous Earth-based telescopic and remote-sensing observations derived by Multiband Imager, is 47% at 415 nm and 67% to 76% at 750 to 1550 nm of the value for the Apollo 16 mature soil measured in an Earth-based laboratory. The data also suggest that roughly 60% of the difference is caused by the difference in soil composition and/or maturity between the 62231 sampling site and the Apollo 16 standard site and that the remaining 40% difference can be explained by the difference between the compaction states of the laboratory and the actual lunar surface. Consideration of the compaction states of the surface soil demonstrates its importance for understanding the spectral characteristics of the lunar surface. We also explain and evaluate data analysis procedures to derive reflectance from Multiband Imager data.     

The space station and Mars

This article presents a plan for reconfiguring the US-international Space Station, which could be used to undertake exploration of Mars. The author believes that there is an urgent need to give a unified purpose to the US Shuttle, Space Station and space science activities, and that planning for an international Mars sample return mission along the lines outlined here could start the US space programme moving again within budgetary requirements.     

Characterization of Multiband Imager Aboard SELENE

The Multiband Imager (MI) is a high-resolution, multi-spectral imaging instrument for lunar exploration. It consists of two cameras, VIS and NIR, and is carried on the SELenological and ENgineering Explorer (SELENE), launched on Sep. 14, 2007. During the observation from January 2008 to June 2009, MI acquired about 450,000 scenes of multispectral image. The radiometric properties of the cameras were characterized using the pre-flight data derived in laboratory experiments with a calibrated integrating sphere. Twelve light source sets were used to examine the S/N ratio, linearity, and saturation level of the cameras. The dark field signal is quite stable in both cameras, having a noise level of less than 1 DN (VIS) and 2 DN (NIR). The fluctuation in the light field is also low (<2 DN), indicating that the spatial nonuniformity in the camera responses can be removed using a flat field. In order to remove the smear signals due to the frame transfer in the VIS data, we developed an iterate algorithm using all bands in the VIS camera. The S/N ratio, which is critical to the precision of the product, is estimated to exceed 160 for the VIS bands and 400 for the NIR bands under low illumination conditions (5% of lunar surface reflectance). Based on the S/N ratio, the radiometric error due to the noise is calculated to be less than 0.7% for VIS and 0.2% for NIR. The relationship between input and output of the VIS camera is linear with a residual of less than 0.6 DN, corresponding to a radiometric error of 0.3%. The NIR exhibits a non-linear response to the input radiance. A cubic function best fits the pre-flight data with an average residual of 8 DN (corresponds to an error of 0.8%). Validation using in-flight data indicated that the instability of the dark output has not changed, but the level of dark output has slightly changed in the NIR bands (less than 6 DN). The pixel-to-pixel sensitivity variation in the orbit has been changed from that in the pre-flight experiment. The difference between the in-flight data and the pre-flight data ranges within ±2%. There is also a small (less than ±1%) but nonnegligible difference between in-flight data of different cycles in both the VIS and NIR bands, suggesting that the coefficient for spatial ununiformity correction needs to be calculated for each cycle.     

Old-Aged Primary Distance Indicators

Old-aged stellar distance indicators are present in all Galactic structures (halo, bulge, disk) and in galaxies of all Hubble types and, thus, are immensely powerful tools for understanding our Universe. Here we present a comprehensive review for three primary standard candles from Population II: (i) RR Lyrae type variables (RRL), (ii) type II Cepheid variables (T2C), and (iii) the tip of the red giant branch (TRGB). The discovery and use of these distance indicators is placed in historical context before describing their theoretical foundations and demonstrating their observational applications across multiple wavelengths. The methods used to establish the absolute scale for each standard candle is described with a discussion of the observational systematics. We conclude by looking forward to the suite of new observational facilities anticipated over the next decade; these have both a broader wavelength coverage and larger apertures than current facilities. We anticipate future advancements in our theoretical understanding and observational application of these stellar populations as they apply to the Galactic and extragalactic distance scale.     

Scientific objectives and specification of the SELENE Multiband Imager

The Lunar Imager/SpectroMeter (LISM) is an instrument being developed for onboarding the SELENE satellite that will be launched in 2007. The LISM consists of the three subsystems: Terrain Camera (TC), Multiband Imager (MI), and Spectral Profiler (SP).