Robert L. Wildey

The Martian atmosphere - Mariner 9 television experiment progress report.

Abstract Atmospheric phenomena appearing in the Mariner 9 television pictures are discussed in detail. The surface of the planet was heavily obscured by a global dust storm during the first month in orbit. Brightness data during this period can be fitted by a semi-infinite scattering and absorbing atmosphere model with a single-scattering albedo in the range 0.70–0.85. This low value suggests that the mean radius of the particles responsible for the obscuration was at least 10 μm. By the end of the second month, this dust storm had largely dissipated, leaving a residual optical depth ∼0.1. Much of the region north of 45°N was covered by variable clouds comprising the north polar hood. The cloud structures revealed extensive systems of lee waves generated by west-to-east flow over irregular terrain. Extensive cloud systems in this region resembled baroclinic wave cyclones. Clouds were also observed over several of the large calderas; these clouds are believed to contain water ice. Several localized dust storms were seen after the global dust storm cleared. These dust clouds appeared to be intensely convective. The convective nature of these storms and the stirring of large dust particles to great heights can be explained by vertical velocities generated by the absorption of solar radiation by the dusty atmosphere.

Mariner 9 television reconnaissance of Mars and its satellites: Preliminary results

At orbit insertion on 14 November 1971 the Martian surface was largely obscured by a dust haze with an extinction optical depth that ranged from near unity in the south polar region to probably greater than 2 over most of the planet. The only features clearly visible were the south polar cap, one dark, spot in Nix Olympica, and three dark spots in the Tharsis region. During the third week the atmosphere began to clear and surface visibility improved, but contrasts remained a fraction of their normal value. Each of the dark spots that apparently protrude through most of the dust-filled atmosphere has a crater or crater complex in its center. The craters are rimless and have featureless floors that, in the crater complexes, are at different levels. The largest crater within the southernmost spot is approximately 100 kilometers wide. The craters apparently were formed by subsidence and resemble terrestrial calderas. The south polar cap has a regular margin, suggsting very flat topography. Two craters outside the cap have frost on their floors; an apparent crater rim within the cap is frost free, indicating preferentia loss of frost from elevated ground. If this is so then the curvilinear streaks, which were frost covered in 1969 and are now clear of frost, may be low-relief ridges. Closeup pictures of Phobos and Deimos show that Phobos is about 25 �5 by 21 �1 kilometers and Deimos is about 13.5 � 2 by 12.0 �0.5 kilometers. Both have irregular shapes and are highly cratered, with some craters showing raised rims. The satellites are dark objects with geometric albedos of 0.05.

Television experiment for Mariner Mars 1971

Abstract The Television Experiment objectives are to provide imaging data which will complement previously gathered data and extend our knowledge of Mars. The two types of investigations will be fixed-feature (for mapping) and variable-feature (for surface and atmospheric changes). Two cameras with a factor-of-ten difference in resolution will be used on each spacecraft for medium- and high-resolution imagery. Mapping of 70% of the planets surface will be provided by medium-resolution imagery. Spot coverage of about 5% of the surface will be possible with the high-resolution imagery. The experiments 5 Principal Investigators and 21 Co-Investigators are organized into a team. Scientific disciplines and technical task groups have been formed to provide the formulation of experiment requirements for mission planning and instrument development. It is expected that the team concept will continue through the operational and reporting phases of the Mariner Mars 1971 Project.

A digital file of the lunar normal Albedo

A digital file of the normal albedo of the Moon has been produced at a resolution of about 1/550 of a lunar diameter (about 6.3 km). The file was produced from five photographs taken with the 61-cm reflector of the Northern Arizona University Astrophysical Observatory. No mosaicking was necessary. Spatial control is selenodetic rather than landmark-morphologic. Photometric control is provided through a combination of electrography and regular photoelectric photometry. Pixel photometric function corrections are employed. The file was provided as data base for the Lunar Consortium. Brief discussion of the scientific implications of the frequency histogram is offered, and the negligibility of lunar limb darkening belowɛ = 77° is affirmed. It is specifically desired not to withhold these data from publication while more significant and detailed scientific interpretation is carried on.

Jupiter: His Limb Darkening and the Magnitude of His Internal Energy Source

The most accurate infrared photometric observations (8 to 14 microns) to date of the average limb darkening of Jupiter have been combined with the most refined deduction of jovian model atmospheres in which flux constancy has been closely maintained in the upper regime of radiative equilibrium and a much more accurate approximation of the 10-and 16-micron vibration-rotation bands of ammonia has been incorporated. The theoretically predicted emergent specific intensity has been multiplied by the spectral response function and folded (mathematically convolved—intersmeared) with the spatial response function of the atmosphere-telescope-photometer combination. The resulting comparison indicates that Jupiter is radiating from three to four times as much power as the planet is receiving from the sun.

The surface integral approach to radarclinometry

Because radarclinometry is fundamentally describable in terms of a nonlinear, first-order, partial differential equation, one expects that it can, in principle, be carried out by direct deterministic integration beginning at a given threshold profile along the azimuthal coordinate. Such a boundary condition could be provided by the altimetry profile obtained on a preceding or succeeding orbital revolution of the radar-bearing spacecraft. Notwithstanding the mismatched resolutions of the radar altimeter and the radar imaging system as planned for the Megallan mission to Venus, there are fundamental considerations, not involving system noise, that influence the possibility of success of this approach. From the topographic map of the Lake Champlain West quadrangle in the Adirondack Mountains of the U.S., a radar image is synthesized. Radarclinometry, in surface integral form, recaptures the topographic map when the applicable radar reflectance function is weakly variable over the range of application, but it diverges beyond a certain point for nominally variable reflectance functions. The effect can be understood by using results from the “shape-from-shading” literature. (This literature is produced by a group within the artificial intelligence community who have been independently attacking, for all practical purposes, photoclinometry, except that they have not given primacy to images of terrain.) The ubiquity of the instability suggests that the value of the surface integral approach is much in doubt.

Radarclinometry of the Earth and Venus from space-shuttle and Venera-15 imagery

The project to develop a line-integral approach to 2-dimensional radarclinometry and to bring it to the status of producing topographic maps from real radar images has been concluded. The final developments of the theory itself have involved a trial-and-error resolution of the curvature decision process at each integration step over range as follows: (1) Locally Indeterminate Azimuth-Azimuth Curvature is invoked if the range-directed path of integration is within 1 ‡ in angle of the tangent to a local characteristic curve of the partial differential equation of radarclinometry (equivalent to a lapse in the necessity for an auxiliary curvature assumption); (2) Local Cylindricity is invoked if the local image isophote has a radius-of-curvature greater than 50 pixels; (3) Least-Squared Local Sphericity is invoked if the characteristic curve trends at greater than 70 ‡ to the range direction (the auxiliary curvature assumption is becoming a sufficiently strong influence as to warrant the overconstraint), and (4) the default hypothesis, which is invoked most often, is the localization through the Euler/Lagrange equation from the calculus of variations of the global principle of minimization of the surface area of the terrain. The development of the set of line integrals into a 2-dimensional topographic surface is not practically achieved by branching the line integral at the range threshold, because the radarclinometry equations are too frequently coupled but weakly to the slope component in the direction of radar-azimuth, and under circumstances for which the powerfully influential auxiliary curvature assumption is too unrealistic. In other words, a line integration in radar-azimuth is far more frequently directed orthogonally to the local characteristic curve than is one carried out over range. Such orthogonality results in stepping the strike under the exclusive control of the curvature assumption. Instead, a quasi-surface-integration step is taken by modeling the dependence on initial strike of the gravitational potential energy of the vertical slab of terrain under the range-profile. The adopted starting strike for the range integral is the one which minimizes the gravitational potential energy. This radarclinometric method, in combination with my recently published method for determining an effective radar back-scattering function from one-dimensional slope statistics and image pixel-signal statistics, was applied to three images. First, to separate theoretical difficulties from experimental impediments, an artificial radar image was generated from a topographic map of the Lake Champlain West quadrangle in the Adirondack Mountains. Except for the regional trend in elevation, to which radarclinometry is insensitive by design, the agreement between the original and derived topography appears good. The morphologies agree and the range of relief is the same to within 4%. As an example of data of the highest quality available from space-borne radar at the present time, a SIR-B image of very rugged terrain in the coastal mountains of Oregon was similarly processed. The result, after filtering to redistribute photoclinometric errors about the two-dimensional spatial spectrum, agrees with ground truth almost as well. As an example of the worst possible data, in terms of signal-to-noise ratio and radar incidence angle (no detraction from the praise due the first high resolution space-borne radar-imaging of Venus intended), a Venera-15 image segment in Sedna Planitia just north-east of Sapho was processed, using Venera altimetry and Pioneer roughness data for slope statistics, in spite of the resolution mis-match. Considerably more trial-and-error filtering was required. The result appears plausible, but an error check is, of course, impossible.

The line integral approach to radarclinometry

Radarclinometry, the invention of which has been previously reported, is a technique for deriving a topographic map from a single radar image by using the dependence upon terrain-surface orientation of the integrated signal of an individual image pixel. The radiometric calibration required for precise operation and testing does not yet exist, but the imminence of important applications justifies parallel, rather than serial, development of radarclinometry and radiometrically calibrated radar. The present investigation reports three developmental advances: (1) The solid angle of integration of back-scattered specific intensity constituting a pixel signal is more accurately accounted for in its dependence on surface orientation than in previous work. (2) The local curvature hypothesis, which removes the requirement of a ground-truth profile as a boundary condition and enables the formulation of the theory in terms of a line integral, has been expanded to include the three possibilities of Local Cylindricity, Local Biaxial Ellipsoidal Hyperbolicity, and Least-Squares Local Sphericity. (3) The theory is integrated in the cross-ground-range direction, which is ill-conditioned compared to the ground-range direction, whereas the original formulation was based on enforced isotropy in the two-dimensional power spectrum of the topography. It was found necessary to prohibit the hypothesis of Local Biaxial Ellipsoidal Hyperbolicity in the cross-range stepping, for reasons not completely clear. Variation in the proportioning between curvature assumptions had produced topographic maps that are in good mutual agreement but not realistic in appearance. They are severely banded parallel to the ground-range direction, most especially at small radar zenith angles. Numerical experimentation with the falsification of topography through incorrect decalibration as performed on a Gaussian hill suggests that the banding and its exaggeration at high radar incidence angles could easily be due to our lack of radiometric calibration.

Radarclinometry: Bootstrapping the radar reflectance function from the image pixel-signal frequency distribution and an altimetry profile

A method is derived for determining the dependence of radar backscatter on incidence angle that is applicable to the region corresponding to a particular radar image. The method is based on enforcing mathematical consistency between the frequency distribution of the images pixel signals (histogram of DN values with suitable normalizations) and a one-dimensional frequency distribution of slope component, as might be obtained from a radar or laser altimetry profile in or near the area imaged. In order to achieve a unique solution, the auxiliary assumption is made that the two-dimensional frequency distribution of slope is isotropic. The backscatter is not derived in absolute units. The method is developed in such a way as to separate the reflectance function from the pixel-signal transfer characteristic. However, these two sources of variation are distinguishable only on the basis of a weak dependence on the azimuthal component of slope; therefore such an approach can be expected to be ill-conditioned unless the revision of the transfer characteristic is limited to the determination of an additive instrumental background level. The altimetry profile does not have to be registered in the image, and the statistical nature of the approach minimizes pixel noise effects and the effects of a disparity between the resolutions of the image and the altimetry profile, except in the wings of the distribution where low-number statistics preclude accuracy anyway. The problem of dealing with unknown slope components perpendicular to the profiling traverse, which besets the one-to-one comparison between individual slope components and pixel-signal values, disappears in the present approach.In order to test the resulting algorithm, an artificial radar image was generated from the digitized topographic map of the Lake Champlain West quadrangle in the Adirondack Mountains, U.S.A., using an arbitrarily selected reflectance function. From the same map, a one-dimensional frequency distribution of slope component was extracted. The algorithm recaptured the original reflectance function to the degree that, for the central 90% of the data, the discrepancy translates to a RMS slope error of 0.1 ‡. For the central 99% of the data, the maximum error translates to 1 ‡; at the absolute extremes of the data the error grows to 6 ‡.

Limited-interval definitions of the photometric functions of lunar crater walls by photography from orbiting Apollo

Abstract By the use of only relative photometry (intraframe) it is shown that the photometric functions of material reposed on the inner walls of some of the ypunger lunar craters photographed on the far side of the Moon from the Apollo 11 Command Module are not of a form which can be reduced to a dependence on phase angle and brightness-longitude (g, α) alone. Some other dependence on the completely general degrees of freedom described by phase angle, angle of incidence, and angle of emergence (g, i, ϵ) seems to be required. In addition, however, it has been found that a dependence of g and α is more closely approached for the crater, in the group observed, which is obviously the oldest by virtue of the roundedness of the rim crest and the mass-wasting which has occured on its inner walls. The possibility thus arises of crater age-dating by making a brightness ratio measurement together with some image geometry measurements. It is at least evident that more than one type of geologic material has been encountered.