Jascha Sohl-Dickstein

Mars Exploration Rover Athena Panoramic Camera (Pancam) investigation

[1]xa0The Panoramic Camera (Pancam) investigation is part of the Athena science payload launched to Mars in 2003 on NASAs twin Mars Exploration Rover (MER) missions. The scientific goals of the Pancam investigation are to assess the high-resolution morphology, topography, and geologic context of each MER landing site, to obtain color images to constrain the mineralogic, photometric, and physical properties of surface materials, and to determine dust and aerosol opacity and physical properties from direct imaging of the Sun and sky. Pancam also provides mission support measurements for the rovers, including Sun-finding for rover navigation, hazard identification and digital terrain modeling to help guide long-term rover traverse decisions, high-resolution imaging to help guide the selection of in situ sampling targets, and acquisition of education and public outreach products. The Pancam optical, mechanical, and electronics design were optimized to achieve these science and mission support goals. Pancam is a multispectral, stereoscopic, panoramic imaging system consisting of two digital cameras mounted on a mast 1.5 m above the Martian surface. The mast allows Pancam to image the full 360° in azimuth and ±90° in elevation. Each Pancam camera utilizes a 1024 × 1024 active imaging area frame transfer CCD detector array. The Pancam optics have an effective focal length of 43 mm and a focal ratio of f/20, yielding an instantaneous field of view of 0.27 mrad/pixel and a field of view of 16° × 16°. Each rovers two Pancam “eyes” are separated by 30 cm and have a 1° toe-in to provide adequate stereo parallax. Each eye also includes a small eight position filter wheel to allow surface mineralogic studies, multispectral sky imaging, and direct Sun imaging in the 400–1100 nm wavelength region. Pancam was designed and calibrated to operate within specifications on Mars at temperatures from −55° to +5°C. An onboard calibration target and fiducial marks provide the capability to validate the radiometric and geometric calibration on Mars.

Athena Microscopic Imager investigation

[1]xa0The Athena science payload on the Mars Exploration Rovers (MER) includes the Microscopic Imager (MI). The MI is a fixed-focus camera mounted on the end of an extendable instrument arm, the Instrument Deployment Device (IDD). The MI was designed to acquire images at a spatial resolution of 30 microns/pixel over a broad spectral range (400–700 nm). The MI uses the same electronics design as the other MER cameras but has optics that yield a field of view of 31 × 31 mm across a 1024 × 1024 pixel CCD image. The MI acquires images using only solar or skylight illumination of the target surface. A contact sensor is used to place the MI slightly closer to the target surface than its best focus distance (about 66 mm), allowing concave surfaces to be imaged in good focus. Coarse focusing (∼2 mm precision) is achieved by moving the IDD away from a rock target after the contact sensor has been activated. The MI optics are protected from the Martian environment by a retractable dust cover. The dust cover includes a Kapton window that is tinted orange to restrict the spectral bandpass to 500–700 nm, allowing color information to be obtained by taking images with the dust cover open and closed. MI data will be used to place other MER instrument data in context and to aid in petrologic and geologic interpretations of rocks and soils on Mars.

Pancam Multispectral Imaging Results from the Opportunity Rover at Meridiani Planum

Panoramic Camera (Pancam) images from Meridiani Planum reveal a low-albedo, generally flat, and relatively rock-free surface. Within and around impact craters and fractures, laminated outcrop rocks with higher albedo are observed. Fine-grained materials include dark sand, bright ferric iron–rich dust, angular rock clasts, and millimeter-size spheroidal granules that are eroding out of the laminated rocks. Spectra of sand, clasts, and one dark plains rock are consistent with mafic silicates such as pyroxene and olivine. Spectra of both the spherules and the laminated outcrop materials indicate the presence of crystalline ferric oxides or oxyhydroxides. Atmospheric observations show a steady decline in dust opacity during the mission. Astronomical observations captured solar transits by Phobos and Deimos and time-lapse observations of sunsets.

In‐flight calibration and performance of the Mars Exploration Rover Panoramic Camera (Pancam) instruments

[1]xa0The Mars Exploration Rover Panoramic Camera (MER/Pancam) instruments have acquired more than 60,000 high-resolution, multispectral, stereoscopic images of soil, rocks, and sky at the Gusev crater and Meridiani Planum landing sites since January 2004. These images, combined with other MER data sets, have enabled new discoveries about the composition, mineralogy, and geologic/geochemical evolution of both sites. One key to the success of Pancam in contributing to the overall success of MER has been the development of a calibration pipeline that can quickly remove instrumental artifacts and generate both absolute radiance and relative reflectance images with high accuracy and precision in order to influence tactical rover driving and in situ sampling decisions. This paper describes in detail the methods, assumptions, and models/algorithms in the calibration pipeline developed for Pancam images, based on new measurements and refinements performed primarily from flight data acquired on Mars. Major calibration steps include modeling and removal of detector bias signal, active and readout region dark current, electronic “shutter smear,” and pixel-to-pixel responsivity (flatfield) variations. Pancam images are calibrated to radiance (W/m2/nm/sr) using refined preflight-derived calibration coefficients, or radiance factor (I/F) using near-in-time measurements of the Pancam calibration target and a model of aeolian dust deposition on the target as a function of time. We are able to verify that the absolute radiance calibration of most Pancam images is accurate to within about 10% or less and that the filter-to-filter and pixel-to-pixel precision of the calibrated relative reflectance data (both based on measurements of the Pancam calibration target) are typically about 3% and 1% or less, respectively. Examples are also presented of scientific applications made possible by the high fidelity of the calibrated Pancam data. These include 11-color visible to near-IR spectral analysis, calculation of “true color” and chromaticity values, and generation of “super resolution” image data products. This work represents a follow-on and enhancement to the Pancam preflight calibration process described by Bell et al. (2003).

Dust deposition on the Mars Exploration Rover Panoramic Camera (Pancam) calibration targets

[1]xa0The Panoramic Camera (Pancam) on the Mars Exploration Rover mission has acquired in excess of 20,000 images of the Pancam calibration targets on the rovers. Analysis of this data set allows estimates of the rate of deposition and removal of aeolian dust on both rovers. During the first 150–170 sols there was gradual dust accumulation on the rovers but no evidence for dust removal. After that time there is ample evidence for both dust removal and dust deposition on both rover decks. We analyze data from early in both rover missions using a diffusive reflectance mixing model. Assuming a dust settling rate proportional to the atmospheric optical depth, we derive spectra of optically thick layers of airfall dust that are consistent with spectra from dusty regions on the Martian surface. Airfall dust reflectance at the Opportunity site appears greater than at the Spirit site, consistent with other observations. We estimate the optical depth of dust deposited on the Spirit calibration target by sol 150 to be 0.44 ± 0.13. For Opportunity the value was 0.39 ± 0.12. Assuming 80% pore space, we estimate that the dust layer grew at a rate of one grain diameter per ∼100 sols on the Spirit calibration target. On Opportunity the rate was one grain diameter per ∼125 sols. These numbers are consistent with dust deposition rates observed by Mars Pathfinder taking into account the lower atmospheric dust optical depth during the Mars Pathfinder mission.

Optogenetic Activation of an Inhibitory Network Enhances Feedforward Functional Connectivity in Auditory Cortex

The mammalian neocortex is a highly interconnected network of different types of neurons organized into both layers and columns. Overlaid on this structural organization is a pattern of functional connectivity that can be rapidly and flexibly altered during behavior. Parvalbumin-positive (PV+) inhibitory neurons, which are implicated in cortical oscillations and can change neuronal selectivity, may play a pivotal role in these dynamic changes. We found that optogenetic activation of PV+ neurons in the auditory cortex enhanced feedforward functional connectivity in the putative thalamorecipient circuit and in cortical columnar circuits. In contrast, stimulation of PV+ neurons induced no change in connectivity between sites in the same layers. The activity of PV+ neurons may thus serve as a gating mechanism to enhance feedforward, but not lateral or feedback, information flow in cortical circuits. Functionally, it may preferentially enhance the contribution of bottom-up sensory inputs to perception.

Radiative transfer modeling of dust-coated Pancam calibration target materials: Laboratory visible/near-infrared spectrogoniometry

[1]xa0Laboratory visible/near-infrared multispectral observations of Mars Exploration Rover Pancam calibration target materials coated with different thicknesses of Mars spectral analog dust were acquired under variable illumination geometries using the Bloomsburg University Goniometer. The data were fit with a two-layer radiative transfer model that combines a Hapke formulation for the dust with measured values of the substrate interpolated using a He-Torrance approach. We first determined the single-scattering albedo, phase function, opposition effect width, and amplitude for the dust using the entire data set (six coating thicknesses, three substrates, four wavelengths, and phase angles 3°–117°). The dust exhibited single-scattering albedo values similar to other Mars analog soils and to Mars Pathfinder dust and a dominantly forward scattering behavior whose scattering lobe became narrower at longer wavelengths. Opacity values for each dust thickness corresponded well to those predicted from the particles sizes of the Mars analog dust. We then restricted the number of substrates, dust thicknesses, and incidence angles input to the model. The results suggest that the dust properties are best characterized when using substrates whose reflectances are brighter and darker than those of the deposited dust and data that span a wide range of dust thicknesses. The model also determined the dust photometric properties relatively well despite limitations placed on the range of incidence angles. The model presented here will help determine the photometric properties of dust deposited on the MER rovers and to track the multiple episodes of dust deposition and erosion that have occurred at both landing sites.

Reconstruction of eolian bed forms and paleocurrents from cross-bedded strata at Victoria Crater, Meridiani Planum, Mars

Outcrop exposures imaged by the Opportunity rover at Victoria Crater, a 750 m diameter crater in Meridiani Planum, are used to delineate sedimentary structures and further develop a dune-interdune depositional model for the region. The stratigraphy at Victoria Crater, observed during Opportunitys partial traverse of its rim, includes the best examples of meter-scale eolian cross bedding observed on Mars to date. The Cape St. Mary promontory, located at the southern end of the rim traverse, is characterized by meter-scale sets of trough cross bedding, suggesting northward migrating sinuous-crested bed forms. Cape St. Vincent, which is located at the opposite end of the traverse, shows tabular-planar stratification indicative of climbing bed forms with meter- to decameter-scale dune heights migrating southward. Promontories located between Cape St. Mary and Cape St. Vincent contain superposed stratigraphic units with northward and southward dipping beds separated by outcrop-scale bounding surfaces. These bounding surfaces are interpreted to be either reactivation and/or superposition surfaces in a complex erg sea. Any depositional model used to explain the bedding must conform to reversing northward and southward paleomigration directions and include multiple scales of bed forms. In addition to stratified outcrop, a bright diagenetic band is observed to overprint bedding and to lie on an equipotential parallel to the preimpact surface. Meter-scale cross bedding at Victoria Crater is similar to terrestrial eolian deposits and is interpreted as a dry dune field, comparable to Jurassic age eolian deposits in the western United States.

Modeling higher-order correlations within cortical microcolumns.

We statistically characterize the population spiking activity obtained from simultaneous recordings of neurons across all layers of a cortical microcolumn. Three types of models are compared: an Ising model which captures pairwise correlations between units, a Restricted Boltzmann Machine (RBM) which allows for modeling of higher-order correlations, and a semi-Restricted Boltzmann Machine which is a combination of Ising and RBM models. Model parameters were estimated in a fast and efficient manner using minimum probability flow, and log likelihoods were compared using annealed importance sampling. The higher-order models reveal localized activity patterns which reflect the laminar organization of neurons within a cortical column. The higher-order models also outperformed the Ising model in log-likelihood: On populations of 20 cells, the RBM had 10% higher log-likelihood (relative to an independent model) than a pairwise model, increasing to 45% gain in a larger network with 100 spatiotemporal elements, consisting of 10 neurons over 10 time steps. We further removed the need to model stimulus-induced correlations by incorporating a peri-stimulus time histogram term, in which case the higher order models continued to perform best. These results demonstrate the importance of higher-order interactions to describe the structure of correlated activity in cortical networks. Boltzmann Machines with hidden units provide a succinct and effective way to capture these dependencies without increasing the difficulty of model estimation and evaluation.

Building a better probabilistic model of images by factorization

We describe a directed bilinear model that learns higher-order groupings among features of natural images. The model represents images in terms of two sets of latent variables: one set of variables represents which feature groups are active, while the other specifies the relative activity within groups. Such a factorized representation is beneficial because it is stable in response to small variations in the placement of features while still preserving information about relative spatial relationships. When trained on MNIST digits, the resulting representation provides state of the art performance in classification using a simple classifier. When trained on natural images, the model learns to group features according to proximity in position, orientation, and scale. The model achieves high log-likelihood (−94 nats), surpassing the current state of the art for natural images achievable with an mcRBM model.