Abstract The Terminal Tracking Camera (TTCam) imaging system on the NASA Lucy Discovery mission consists of a pair of cameras that are being used mainly as a navigation and target acquisition system for the mission's asteroid encounters. However, a secondary science‐focused function of the TTCam system is to provide wide‐angle broadband images over a large range of phase angles around close approach during each asteroid flyby. The scientific data acquired by TTCam can be used for shape modeling and topographic and geologic analyses. This paper describes the pre‐flight and initial in‐flight calibration and characterization of the TTCams, including the development of a radiometric calibration pipeline to convert raw TTCam images into radiance and radiance factor (I/F) images, along with their uncertainties. Details are also provided here on the specific calibration algorithms, the origin and archived location of the required ancillary calibration files, and the archived sources of the raw calibration and flight data used in this analysis.

On 2022 September 29 the Juno spacecraft passed Europa at 355 km, the first close pass since the Galileo flyby in 2000. Juno’s visible-light imager, JunoCam, collected four images, enabling cartographic, topographic, and surface geology analysis. The topography along the terminator is consistent with previously reported features that may indicate true polar wander. A bright band was discovered, and indicates global symmetry in the stress field that forms bright bands on Europa. The named feature Gwern is shown not to be an impact crater. Surface change detection shows no changes in 22 yr, although this is a difficult task considering differences between the JunoCam and Galileo imagers and very different viewing geometries. No active eruptions were detected.

The Terminal Tracking Camera system (TTCam) on the NASA Lucy Trojan asteroid Discovery mission consists of a pair of block redundant cameras and their associated electronics that are mounted on the spacecraft’s Instrument Pointing Platform and co-boresighted with the rest of the mission’s science payload instruments. The primary function of the TTCams is as a navigation system designed to provide an autonomous onboard late pre-encounter update of the location of each asteroid flyby target relative to the spacecraft. However, once the terminal tracking function is complete, the TTCam system will also provide 11.0°×8.2° field of view broadband (425-675 nm) images during the close approach phase of each asteroid flyby that will be used for scientific analyses like shape modeling and assessment of each target’s geology and topography. This paper provides an overview of the TTCam cameras and electronics, the science-focused requirements that the system is designed to meet, pointers to pre-flight calibration and in-flight calibration details for the cameras, as well as a high-level summary of the kinds of science that these images will enable for the mission.

ShadowCam is a National Aeronautics and Space Administration Advanced Exploration Systems funded instrument hosted onboard the Korea Aerospace Research Institute (KARI) Korea Pathfinder Lunar Orbiter (KPLO) satellite. By collecting high-resolution images of permanently shadowed regions (PSRs), ShadowCam will provide critical information about the distribution and accessibility of water ice and other volatiles at spatial scales (1.7 m/pixel) required to mitigate risks and maximize the results of future exploration activities. The PSRs never see direct sunlight and are illuminated only by light reflected from nearby topographic highs. Since secondary illumination is very dim, ShadowCam was designed to be over 200 times more sensitive than previous imagers like the Lunar Reconnaissance Orbiter Camera Narrow Angle Camera (LROC NAC). ShadowCam images thus allow for unprecedented views into the shadows, but saturate while imaging sunlit terrain.

Introduction: The JunoCam instrument on the Juno Jupiter orbiter acquires wide field of view color images scanned by the rotation of the Juno spacecraft. JunoCam was designed to image Jupiter’s polar regions as Juno passed over the poles in its highly elliptical orbit. During Juno’s primary mission, JunoCam made observations of Jupiter’s atmosphere during thirty-two perijove passes, discovering the circumpolar cyclones [1] among other things. While there were no close flybys of the Galilean Satellites during Juno’s five year primary mission (2016-2021), the extended mission included a close encounter with Ganymede on 7 June 2021, just before Juno’s 34th perijove pass. Here we present the JunoCam images acquired during the Ganymede encounter on perijove 34 with discussion of initial results. A mosaic of the first two JunoCam images in this sequence is shown in Figure 1, projected as viewed from Juno’s location at the time of the second image acquisition.

During the Juno Mission's encounter with Ganymede on 7 June 2021, the Juno camera (JunoCam) acquired four images of Ganymede in color. These images covered one-sixth of Ganymede at scales from 840 m to similar to 4 km/pixel. Most of this area was only previously imaged by Voyager 1 in 1979, at lower spatial resolution and poorer image quality. No changes were observed over this area of Ganymede in the 42 years since Voyager. JunoCam provided overlapping coverage, from which we developed a digital elevation model of the best-resolved area. A 3 km high dome at the subjovian point was confirmed, 450 km by 750 km. We used the JunoCam images to refine the geologic map of Ganymede in eastern Perrine Regio.

Mastcam-Z is a multispectral, stereoscopic imaging investigation on the Mars 2020 mission’s Perseverance rover. Mastcam-Z consists of a pair of focusable, 4:1 zoomable cameras that provide broadband red/green/blue and narrowband 400-1000 nm color imaging with fields of view from 25.6° × 19.2° (26 mm focal length at 283 μrad/pixel) to 6.2° × 4.6° (110 mm focal length at 67.4 μrad/pixel). The cameras can resolve (≥ 5 pixels) ∼0.7 mm features at 2 m and ∼3.3 cm features at 100 m distance. Mastcam-Z shares significant heritage with the Mastcam instruments on the Mars Science Laboratory Curiosity rover. Each Mastcam-Z camera consists of zoom, focus, and filter wheel mechanisms and a 1648 × 1214 pixel charge-coupled device detector and electronics. The two Mastcam-Z cameras are mounted with a 24.4 cm stereo baseline and 2.3° total toe-in on a camera plate ∼2 m above the surface on the rover’s Remote Sensing Mast, which provides azimuth and elevation actuation. A separate digital electronics assembly inside the rover provides power, data processing and storage, and the interface to the rover computer. Primary and secondary Mastcam-Z calibration targets mounted on the rover top deck enable tactical reflectance calibration. Mastcam-Z multispectral, stereo, and panoramic images will be used to provide detailed morphology, topography, and geologic context along the rover’s traverse; constrain mineralogic, photometric, and physical properties of surface materials; monitor and characterize atmospheric and astronomical phenomena; and document the rover’s sample extraction and caching locations. Mastcam-Z images will also provide key engineering information to support sample selection and other rover driving and tool/instrument operations decisions.

The Mastcam-Z Camera is a stereoscopic, multispectral camera with zoom capability on NASA’s Mars-2020 Perseverance rover. The Mastcam-Z relies on a set of two deck-mounted radiometric calibration targets to validate camera performance and to provide an instantaneous estimate of local irradiance and allow conversion of image data to units of reflectance (R ∗ or I/F) on a tactical timescale. Here, we describe the heritage, design, and optical characterization of these targets and discuss their use during rover operations. The Mastcam-Z primary calibration target inherits features of camera calibration targets on the Mars Exploration Rovers, Phoenix and Mars Science Laboratory missions. This target will be regularly imaged during flight to accompany multispectral observations of the martian surface. The primary target consists of a gold-plated aluminum base, eight strong hollow-cylinder Sm 2 Co 17 alloy permanent magnets mounted in the base, eight ceramic color and grayscale patches mounted over the magnets, four concentric, ceramic grayscale rings and a central aluminum shadow post (gnomon) painted with an IR-black paint. The magnets are expected to keep the central area of each patch relatively free of Martian aeolian dust. The Mastcam-Z secondary calibration target is a simple angled aluminum shelf carrying seven vertically mounted ceramic color and grayscale chips and seven identical, but horizontally mounted ceramic chips. The secondary target is intended to augment and validate the calibration-related information derived from the primary target. The Mastcam-Z radiometric calibration targets are critically important to achieving Mastcam-Z science objectives for spectroscopy and photometric properties.

The NASA Perseverance rover Mast Camera Zoom (Mastcam-Z) system is a pair of zoomable, focusable, multi-spectral, and color charge-coupled device (CCD) cameras mounted on top of a 1.7 m Remote Sensing Mast, along with associated electronics and two calibration targets. The cameras contain identical optical assemblies that can range in focal length from 26 mm ( $25.5^{\circ }\, \times 19.1^{\circ }\ \mathrm{FOV}$ ) to 110 mm ( $6.2^{\circ } \, \times 4.2^{\circ }\ \mathrm{FOV}$ ) and will acquire data at pixel scales of 148-540 μm at a range of 2 m and 7.4-27 cm at 1 km. The cameras are mounted on the rover’s mast with a stereo baseline of $24.3\pm 0.1$ cm and a toe-in angle of $1.17\pm 0.03^{\circ }$ (per camera). Each camera uses a Kodak KAI-2020 CCD with $1600\times 1200$ active pixels and an 8 position filter wheel that contains an IR-cutoff filter for color imaging through the detectors’ Bayer-pattern filters, a neutral density (ND) solar filter for imaging the sun, and 6 narrow-band geology filters (16 total filters). An associated Digital Electronics Assembly provides command data interfaces to the rover, 11-to-8 bit companding, and JPEG compression capabilities. Herein, we describe pre-flight calibration of the Mastcam-Z instrument and characterize its radiometric and geometric behavior. Between April 26 $^{th}$ and May 9 $^{th}$ , 2019, ∼45,000 images were acquired during stand-alone calibration at Malin Space Science Systems (MSSS) in San Diego, CA. Additional data were acquired during Assembly Test and Launch Operations (ATLO) at the Jet Propulsion Laboratory and Kennedy Space Center. Results of the radiometric calibration validate a 5% absolute radiometric accuracy when using camera state parameters investigated during testing. When observing using camera state parameters not interrogated during calibration (e.g., non-canonical zoom positions), we conservatively estimate the absolute uncertainty to be $<10\%$ . Image quality, measured via the amplitude of the Modulation Transfer Function (MTF) at Nyquist sampling (0.35 line pairs per pixel), shows $\mathrm{MTF}_{\mathit{Nyquist}}=0.26-0.50$ across all zoom, focus, and filter positions, exceeding the $>0.2$ design requirement. We discuss lessons learned from calibration and suggest tactical strategies that will optimize the quality of science data acquired during operation at Mars. While most results matched expectations, some surprises were discovered, such as a strong wavelength and temperature dependence on the radiometric coefficients and a scene-dependent dynamic component to the zero-exposure bias frames. Calibration results and derived accuracies were validated using a Geoboard target consisting of well-characterized geologic samples.

JunoCam, the visible imager on the Juno mission’s payload that was designed primarily for public-outreach purposes, continues to produce images of Jupiter that provide unexpected scientific benefits. Juno’s polar orbits enable observing regions of the planet that have not previously been detected at such high resolution by any previous spacecraft. JunoCam has a single CCD detector with an integral color-strip filter that enables the instrument to image in four color bands—blue, green, red and an 889-nm methane band. JunoCam maps a field of view of 58° across the width of the detector, perpendicular to the spacecraft scan direction. We will describe characteristics and likely origins of bright white compact (~50 km) clouds, informally dubbed “pop-up” clouds by the JunoCam team. We used the length of shadows of these and other features to determine the relative heights of clouds and assigned a provisional chemical classification based on relative altitudes from equilibrium-chemistry predictions. We tracked the continued interactions of small anticyclonic ovals with Jupiter’s Great Red Spot (GRS) that drew off high-altitude reddish haze into strips (commonly called “flakes”) on its western edge. A lightning flash was detected in one of the compact circumpolar cyclones in late December. Observations of the south-polar circumpolar cyclones showed that the original unequally sided pentagon becoming a hexagon – with a cyclone filling in an open area, then a pentagon again over the course of 110 days. In a collaboration with amateur astronomer Clyde Foster (S. Africa), we observed the morphology of an unexpected upwelling in late May of 2020, now known as “Clyde’s Spot”, and tracked its evolution in concert with several ground-based observations. We also measured ~40-50 m/s winds around the sinuous jet bounding the South Polar Hood, an upper-level haze generated by auroral-related chemistry. Lightly processed and raw JunoCam data continue to be posted on the JunoCam webpage at https://missionjuno.swri.edu/junocam/processing. Citizen scientists download these images and upload their processed contributions.

The Mars 2020 Perseverance rover is equipped with a next-generation engineering camera imaging system that represents an upgrade over previous Mars rover missions. These upgrades will improve the operational capabilities of the rover with an emphasis on drive planning, robotic arm operation, instrument operations, sample caching activities, and documentation of key events during entry, descent, and landing (EDL). There are a total of 16 cameras in the Perseverance engineering imaging system, including 9 cameras for surface operations and 7 cameras for EDL documentation. There are 3 types of cameras designed for surface operations: Navigation cameras (Navcams, quantity 2), Hazard Avoidance Cameras (Hazcams, quantity 6), and Cachecam (quantity 1). The Navcams will acquire color stereo images of the surface with a $96^{\circ}\times 73^{\circ}$ field of view at 0.33 mrad/pixel. The Hazcams will acquire color stereo images of the surface with a $136^{\circ}\times 102^{\circ}$ at 0.46 mrad/pixel. The Cachecam, a new camera type, will acquire images of Martian material inside the sample tubes during caching operations at a spatial scale of 12.5 microns/pixel. There are 5 types of EDL documentation cameras: The Parachute Uplook Cameras (PUCs, quantity 3), the Descent stage Downlook Camera (DDC, quantity 1), the Rover Uplook Camera (RUC, quantity 1), the Rover Descent Camera (RDC, quantity 1), and the Lander Vision System (LVS) Camera (LCAM, quantity 1). The PUCs are mounted on the parachute support structure and will acquire video of the parachute deployment event as part of a system to characterize parachute performance. The DDC is attached to the descent stage and pointed downward, it will characterize vehicle dynamics by capturing video of the rover as it descends from the skycrane. The rover-mounted RUC, attached to the rover and looking upward, will capture similar video of the skycrane from the vantage point of the rover and will also acquire video of the descent stage flyaway event. The RDC, attached to the rover and looking downward, will document plume dynamics by imaging the Martian surface before, during, and after rover touchdown. The LCAM, mounted to the bottom of the rover chassis and pointed downward, will acquire $90^{\circ}\times 90^{\circ}$ FOV images during the parachute descent phase of EDL as input to an onboard map localization by the Lander Vision System (LVS). The rover also carries a microphone, mounted externally on the rover chassis, to capture acoustic signatures during and after EDL. The Perseverance rover launched from Earth on July 30th, 2020, and touchdown on Mars is scheduled for February 18th, 2021.

Within the first 26 orbits of the Juno spacecraft around Jupiter, we have identified a variety of wave-like features in images made by its public-outreach camera, JunoCam. Because of Juno’s unprecedented and repeated proximity to Jupiter’s cloud tops during its close approaches, JunoCam has detected more wave structures than any previous surveys. Most of the waves appear in long wave packets, oriented east-west and populated by narrow wave crests. Spacing between crests were measured as small as ~30 km, shorter than any previously measured. Some waves are associated with atmospheric features, but others are not ostensibly associated with any visible cloud phenomena and thus may be generated by dynamical forcing below the visible cloud tops. Some waves also appear to be converging and others appear to be overlapping, possibly at different atmospheric levels. Another type of wave has a series of fronts that appear to be radiating outward from the center of a cyclone. Although we have detected wave-like phenomena covering latitudes between 20°S and 45°N, most appear within 5° of latitude from the equator. Most waves appear in regions associated with prograde motions of the mean zonal winds. Although Juno was unable to measure the velocity of wave features to diagnose the wave types due to its close and rapid flybys, both by our own upper limits on wave motions and by analogy with previous measurements, we expect that the waves JunoCam detected near the equator are inertia-gravity waves.

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

The Touch And Go Camera System (TAGCAMS) is a three-camera-head instrument onboard NASA’s OSIRIS-REx asteroid sample return mission spacecraft. The purpose of TAGCAMS is to facilitate navigation to the target asteroid, (101955) Bennu; confirm acquisition of the asteroid sample; document asteroid sample stowage; and provide supplementary imaging for OSIRIS-REx science investigations. During the almost two-year OSIRIS-REx outbound cruise phase we pursued nine TAGCAMS imaging campaigns to check, calibrate and characterize the camera system’s performance before asteroid arrival and proximity operations began in late 2018. The TAGCAMS in-flight calibration dataset provides the relevant information to enable the three cameras to complete their primary observation goals during asteroid operations. The key performance parameters that we investigated in flight included: linearity, responsivity (both point source and extended body), dark current, hot pixels, pointing, image geometry transformation, image quality and stray light. Analyses of the in-flight performance either confirmed the continued applicability of the TAGCAMS ground test results or substantially improved upon the ground test knowledge. In addition, the TAGCAMS calibration observations identified the source of a spacecraft outgassing feature that guided successful remediation efforts prior to asteroid arrival.

We use observations from the JunoCam instrument on the Juno spacecraft to map the polar regions of Jupiter between 2016 and 2018. These polar maps track the long-term evolution of the pentagonal and octagonal structures of circumpolar cyclones (CPCs). The south-polar pentagonal and north-polar octagonal arrangements of the CPCs have remained largely stable over the last 2 years of observation. The morphologies of individual cyclones also remain largely stable for 1–2 years, although some changes are observed, so that the location of each CPC is uniquely identifiable. At both north and south poles, individual cyclones move around the center to a limited extent, and there is a gap of variable width between one pair of south polar CPCs. Measurements at consecutive closest approaches (perijoves, 53 days apart) show small movements of individual cyclones both eastward and westward. However, the south-polar CPCs have a long-term systematic westward drift rate of 1.5 ± 0.2° per orbit or 0.040 ± 0.005 m/s, whereas north polar CPCs do not show a consistent drift in longitude. Around the perimeter of the southern pentagon, we detect no rapid jet in short-term animations, and we provide evidence that anticyclonic white ovals may have a range of longitudinal drifts between −44 and +15° per orbit (+1.8 to −0.7 m/s). Measurement of the angular velocities within the cyclones shows increasing angular velocity with decreasing radius, except in the inner bright cloud deck of one class of northern CPCs, which are inferred to have smaller or even negative angular velocities very near the center. Tangential wind velocities within the cyclones range up to 100 m/s (and even >100 m/s in the southern polar cyclone) and are maximal between radii of ~900–1600 km. Overall, we find that the behavior of the polar cyclones constellations compares well to vortex crystal theory, even though the theory does not include anticyclonic vorticity.