Lunar Terrain Surface Modeling for the ALHAT
Program
Uday J. Shankar
Uday.Shankar(jhuapl.edu
240-228-8037
Wen-Jong Shyong
Wen-Jong.Shyong(jhuapl.edu
240-228-8564
The Johns Hopkins University Applied Physics Laboratory
11100 Johns Hopkins Road, Laurel, MD 20723-6099
Abstract The NASA Autonomous Precision Landing
and Hazard Avoidance Technology (ALHAT) program is
developing an autonomous precision landing system
capable of landing a spacecraft on the moon. To achieve
the desired 90 m (3o) landing accuracy some version of a
Terrain Relative Navigation (TRN) is necessary. One
such algorithm is described in a companion paper. These
algorithms require an accurate representation of the lunar
terrain for both the on-board TRN algorithms and the
ground-based software test bed (truth model) to verify the
performance of the algorithms. In its terminal landing
phase, the spacecraft will touchdown in a safe location
using two algorithms: Hazard Detection and Avoidance
(HDA) and the Hazard-Reference Navigation (HRN). To
verify the performance of the HDA and HRN algorithms,
ALHAT needs lunar surface models incorporating rock
shape and size distribution statistics.
The Johns Hopkins University Applied Physics
Laboratory has been tasked by ALHAT to supply lunar
terrain data for ALHAT. This includes both terrain data
(elevation and surface reflectivity properties) for TRN
and rock statistics for HDA and HRN. At the present
time, detailed terrain data from satellite measurements is
not available for all the lunar regions. In particular, data
for the polar regions, which have been identified as
regions of high importance, are sparse. Several missions
are underway to map the lunar surface. Until data from
the laser altimeters and cameras on these spacecraft are
available, APL will provide representative lunar terrain
data to test the ALHAT algorithms. This paper discusses
APL's different approaches to generating lunar digital
elevation maps for TRN. It does not discuss the
generation of rock statistics for HDA and HRN.1 2
TABLE OF CONTENTS
1. INTRODUCTION..........................1
2. TERRAIN RELATIVE NAVIGATION ....................1
3. ALHAT'S DATA REQUIREMENT SCHEDULE ...2
1 1-4244-1488-1/08/$25.00 C 2008 IEEE.
2
IEEEAC paper#1665, Version 4, Updated 2007:12:17
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Thomas B. Criss
Tom.Criss(jhuapl.edu
240-228-6099
Dewey Adams
Dewey.Adamsgjhuapl.edu
240-228-6099
4. SOURCES OF LUNAR TERRAIN DATA ................2
5. CREATING "REPRESENTATIVE" HIGH RESOLUTION
LUNAR DEMS ....... ........................3
6. EXAMPLE OF A GENERATED HIGH-RESOLUTION
DEM................................7
1. INTRODUCTION
The NASA Autonomous Precision Landing and Hazard
Avoidance Technology (ALHAT) program is developing
an autonomous precision landing system capable of
landing a spacecraft on the moon [17]. To achieve the
desired 90 m (3o) landing accuracy Terrain Relative
Navigation (TRN) is necessary. These algorithms require
an accurate representation of the lunar terrain, not only in
terms of local elevation, but also surface properties
(reflectivity, etc.). The local elevation is usually supplied
as digital elevation maps (DEMs), while the surface
properties are specified using a surface reflectivity map
(SRM). ALHAT's mandate is to develop landing systems
capable of landing anywhere and anytime on the moon.
This dictates that high-resolution DEMs for all regions on
the moon be available. This data is used for both the on-
board TRN algorithms and the earth-bound software test
bed to verify the performance of the algorithms.
The next section describes active and passive terrain
relative navigation systems and how they use digital
elevation maps. Section 3 discusses the ALHAT program
schedule and when the program will require surface data.
Section 4 describes the various sources of lunar terrain
data, both currently available data and data from future
lunar mapping missions. Current data is of low resolution
and ALHAT will need representative data before data
from these missions is available. Section 5 describes
APL's approach to providing realistic, but generated,
terrain data to meet ALHAT's needs. A sample of the
generated high-resolution DEM is provided in Section 6.
2. TERRAIN RELATIVE NAVIGATION
To meet the ALHAT landing accuracy requirement of
90m (3 o), inertial navigation is insufficient. Some form
 of lunar terrain-relative navigation is required. There are
essentially two forms of TRN an active system using
laser ranging equipment (such as a LIDAR Light
Detection and Ranging) and a passive-optical system
using digital cameras. This section gives a very brief
overview of how these systems operate. Both systems
need a digital elevation map. In addition, the passive
optical system needs to know the surface reflection
properties.
In an active system, the system uses a LIDAR to query
the height of underlying terrain. The algorithm then
generates expected heights using a stored digital elevation
map and based on estimated location and attitude of the
spacecraft. By correlating the rendered heights to the
actual returned heights, the algorithm can estimate the
error in its position. Note that for this to work, the terrain
must present varying heights. The lunar surface,
pockmarked with craters presents no difficulty in this
regard.
In a passive optical system, the spacecraft takes a picture
of the terrain with a digital camera. Using the stored
digital elevation map, estimates of the spacecraft position
and attitude, and a shadow database for the region, the
algorithm renders the image that would be generated with
those parameters. Then by correlating the rendered and
actual images, the algorithm estimates the error in its
position estimate. The shadow database is constructed
using the digital elevation map, the surface reflection
map, and the sun's angular location. Since the sun's
movement in the lunar sky is much smaller ( 120 per
earth day) than the duration of the landing phase (-5
minutes), the shadow database only need be constructed
once. The passive-optical system can be designed with
either a combination of one camera and an altimeter or
with two cameras oriented in two different directions.
Ref. 16 describes one such design.
In either case, the navigation algorithms can provide sub-
pixel accuracy. It has been shown (Ref. 16) that a digital
elevation map of 30m resolution or better is required to
meet the 90 m (3 o) landing requirement.
3. ALHAT 's DATA REQUIREMENT
SCHEDULE
According to the current ALHAT schedule, the following
Design Analysis Cycles (DACs) are significant
milestones relating to terrain data needs:
* DAC 3 start: October 2008.
* DAC 4 start: March 2009
* DAC 5 start: January 2010
* ALHAT support for Lunar Lander Program Office
(LLPO) preliminary design review: September 2011.
It is likely that the definitive spacecraft-measured lunar
data will not be available till the first quarter of FY20 10
(which is about a year after Lunar Reconnaissance Orbiter
(LRO) spacecraft is launched). This is after the final
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design analysis cycle (DAC 5) of the ALHAT program. It
is likely, however, that data from other missions will be
available before that.
4. SOURCES OF LUNAR TERRAIN DATA
Currently, the main sources of lunar terrain data are the
high-resolution images from Clementine and the Apollo
spacecraft and the laser altimetry from Clementine. There
are several lunar missions underway to completely map
the lunar surface: Kaguya (formerly SELENE), Lunar
Reconnaissance Orbiter (LRO), Chandrayaan I, and
Chang'e 1. While these missions may provide adequate
digital terrain data in time for NASA's first flights back to
the moon, they will not be available during the early
phases of the ALHAT TRN and HDA development. This
section discusses these missions, their instruments, and
what data can be expected from them.
Apollo
The astronauts aboard Apollo took several high-resolution
videos of the lunar surface. These videos are tagged with
the spacecraft altitude using Apollo's laser altimeter.
There is an effort underway at the United States
Geological Service (USGS) to take these high-resolution
videos and convert them into high-resolution digital
elevation maps (about 10 meters). Of course, these will
only be available for the areas where the Apollo
astronauts took the videos.
Clementine
Clementine orbited the moon between February 19 and
May 5, 1994 and mapped the moon from an altitude of
about 400 km. It had two instruments relevant to our
purpose a High-Resolution Camera taking pictures in
the visible spectrum and a LIDAR system for taking
altitude measurements while mapping the lunar terrain.
Clementine-based DEMs have a resolution of about 1 km.
Lunar Reconnaissance Orbiter (LRO)
Lunar Reconnaissance Orbiter (LRO) is a robotic
spacecraft the United States plans to place in orbit around
the Moon to perform a global surface survey. Launch is
planned for October 2008. In addition to other science
goals, LRO has three overarching goals to aid lunar
exploration [6]:
(1) Produce a high-resolution global topographic
model and global geodetic framework that
enables precise targeting, safe landing, and
surface mobility to carry out exploratory
activities;
(2) Characterize the polar illumination environment
to identify landing sites of interest.
(3) Provide an assessment of features for landing
sites and identify potentially safe landing sites.
 For these tasks, LRO relies on two instruments on board:
the Lunar Orbiter Laser Altimeter (LOLA) and the Lunar
Reconnaissance Orbiter Camera (LROC).
LOLA will provide a lunar topographic model for the
entire lunar surface to an accuracy of Im. LOLA has five
spot beams and, so, can measure slope in two directions
accurate to 0.5 degrees over 50 m. In addition, it can
measure surface roughness to 0.3 m (useful for HDA
terrain modeling). The digital elevation map from LRO
data is expected to have a resolution of about 25-30 m,
with the height accurate to better than 0.5 m. In addition,
LOLA will also provide surface albedo (reflectance) to
better than 500 (at 1064 nm wavelength in the near ultra-
violet (UV) spectrum).
LROC will provide the measurements for landing site
certification and polar illumination. LROC consists of two
narrow angle cameras (to provide extreme close-up views
of potential landing sites to a 0.5 m resolution3) and a
wide angle camera provides pictures at 100m resolution
(Ref. 15). The expected data product from LROC is
thousands of 50 cm/pixel images at targeted points
(potential landing sites), and the entire Moon at 100
m/pixel. The goal is to provide an idea of surface landing
hazards. It will also provide illumination conditions of
the poles. and identify locations of near constant solar
illumination.
The ALHAT program relies very heavily on the data
products that LRO will provide.
Kaguya
Kaguya (formerly SELENE, for SELenological and
ENgineering Explorer) is a Japanese Space Agency
(JAXA) lunar orbiter mission. The mission's primary
objective is a global survey of the Moon. It was launched
on 14 September 2007. Kaguya carries (among other
scientific instruments) a laser altimeter (LALT) and a
terrain camera (TC) [5]. LALT outputs the altitude at 1
Hz accurate to 5 m [4]. The TC is a stereographic camera
with a 20m spatial resolution[5].
On November 7, Kaguya beamed back the first high-
definition video of the moon4.
Using the Kaguya data, we expect to generate DEMs with
a resolution of about 1.6 km with the height accurate to
about 20 m.
Chandrayaan I
Chandrayaan I (literally meaning "Moon Craft") is an
unmanned lunar mission by the Indian Space Research
3According to Ref. 15, these cameras have sufficient resolution to see
the spacecraft that have been left on the moon Apollo, Surveyor, and
Luna.
4 The video was spectacular views of earth-rise and set over the lunar
horizon.
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Organization (ISRO). Its primary mission is to perform
high resolution mapping of topographic features. Launch
is planned for April 2008. The instruments on
Chandrayaan I for lunar mapping purposes include the
Laser Lunar Ranging Instrument (LLRI, [8]) and the
Terrain Mapping Camera (TMC, [9]). ISRO expects to
produce high-resolution lunar DEMs by combining the
LLRI and TMC outputs. Incidentally, APL provides a
synthetic-aperture radar package (miniSAR) on
Chandrayaan I.
Currently NASA and ISRO are negotiating agreements
for early exchange of terrain data for mission planning
purposes. A formal agreement is expected shortly.
Chang'e ]
Chang'e 1 is the first orbiter to be launched as part of
Chinese Lunar Exploration Program (CLEP). It was
launched on October 27, 2007. Its main objective is to
map the lunar surface via 3-dimensional imagery. To
facilitate this, the Chang'e 1 carries an optical imaging
system with a CCD stereo camera, and a laser altimeter
[14]. In November 20-21, Chang'e 1 sent its first pictures
of the lunar surface. The resolution of the pictures was
about 140 m/pixel.
It is not clear when or if terrain data from Chang'e 1 will
be made available to NASA (and ALHAT). Dr. Ouyang
Ziyuan, academician of the Chinese Academy of Sciences
(CAS) and chief scientist of the lunar exploration program
said [18] that the Chang'e 1 data would be made public
and that "any scientist or astronomy lover can apply to the
state in accordance with certain procedures to obtain data
he needs." It remains to be seen what actual data is made
available.
5. CREATING "REPRESENTATIVE" HIGH
RESOLUTION LUNAR DEMS
High-resolution DEMs will not be available until well
into the next decade. However, ALHAT needs high-
resolution DEMs now to develop and test TRN
algorithms. Until spacecraft-measured DEMs are
available, APL will generate representative DEMs in two
ways:
(1) The high-resolutions digital terrain data for the
Apoll cameras will available from the USGS
AstroGeology Research Program. Of course, the
only data available are those photographed by the
Apollo astronauts. For those areas for which this
data is not available (for example, the poles),
representative data from other areas can be
transposed to the area of interest (as suggested by
Ben Bussey and Jeff Plescia, APL's lunar scientists).
The maps will not be "correct" for these areas, but
the maps will be "representative" of the area. This
will be adequate to test the ALHAT TRN
algorithms. This method is rather expensive and may
prove to be prohibitive for this project. It is being
 Figure 1. Detail from a Clementine Image Mosaic. The shaded regions (in
red) are regions with sparse or no data

currently investigated and will not be discussed
further in this paper.
(2) A second way to generate high-resolution maps is to
take low-resolution maps of the area of interest and
artificially add high-resolution data using terra-
forming techniques. The next section describes
APL's approach, termed DEM-Maker.
APL's DEM-Maker
APL's DEM-Maker creates high-resolution DEMs using
low-resolution DEMs (such as the 1 km DEM from
Clementine or even a flat sphere). The DEM-Maker
requires as inputs, the resolution of the DEM (in meters)
and the extent of the map (in number of points in two
dimensions). For the convenience of the fractal terrain
generator, the number of points is rounded up to one plus
the next power of 2 (i.e., 1 + 2'). The center of the map
is assumed to be the lunar South Pole5, although the
program is easily updated for ALHAT to be able to
generate DEMs centered anywhere on the moon.
The method can be summarized thus:
. The method starts with a low-resolution DEM or a flat
surface
. High-resolution fractal terrain is added to the DEM
using the random midpoint displacement method (also
called the squares-and-diamonds method) [2].
. The terrain is decomposed into a low frequency parts
and a high frequency part. The high-frequency part is
taken out and saved till the end of the process.
* The known large craters are added to the low-frequency
terrain base from a lunar crater database (such as the
Gazetteer in [1].
. Then, smaller random craters are added according to

5 For historical reasons DEMMaker's center has been the Lunar Robotic Program, for which, the primary landing site was the
South Pole, since the program came out of the Lunar Precursor Shackleton crater at the Lunar South Pole.
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 statistics of the size and number distributions.
. The resulting low-frequency surface is then made
smooth and continuous with no sharp edges using a
simple infinite-impulse-response (IIR) filter in two
dimensions
. Finally, the high-frequency data is added back in to
give the surface a realistic texture.
Fractal Terrain Generation The DEM-Maker starts
with a low-resolution lunar digital elevation map. This is
either a Clementine DEM (roughly 1 km resolution) or a
spherical lunar surface. Then, a high-resolution fractal
landscape is generated. The resolution of the fractal
landscape matches the requested resolution.
This uses the random midpoint displacement method (also
Foumier, Fussell, and Carpenter in Ref. 2, and explained
in Ref. 12.
Crater Distribution As described earlier, the
DEMMaker first places all the known large craters from a
database. Then it places small, randomly sized craters in
random locations.
The large craters in the model are read from a database of
lunar craters. The database consists of all the craters listed
in the Gazetteer in [1]. The database holds 8646 known
craters from the largest, Hertzsprung (591 km in
diameter) to Halo (less than 1 km). In the given region of
interest, the program places all the craters from the
database that lie within. The altitudes of all points within
the crater extent (including the rim and the ejecta) are
determined from a lunar crater model, described in the
next sub-section.

Figure 2. DEM-Maker-Fractal terrain created from low-resolution DEM

Figure 3. DEM-Maker- Scooping out a crater in the base surface. The base surface is the fractal
terrain with the high-frequency content removed.

known as a the diamond-square method), described by

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 Figure 4: DEM-maker- Adding a central mound and rim to the crater

Figure 5. DEM-maker-Add all known craters from the crater database

older craters are usually shallower, with some of the

Once all the known craters that belong in the area of
interest are placed, a random number of small, randomly
sized craters are placed in random locations. The number
sof craters of each size are determined from a known
crater-size distribution [ 11 ].
Lunar Crater Model The lunar crater model assumes
that the crater is formed by meteorite impact. A
depression is scalloped into the terrain based on the
underlying altitude at the center of the crater, i.e., blows
out the dirt based on the impact point.
An area around the center of the crater is first cleared to
the level of the average altitude in the area of the crater.
The crater hole in the shape of a sigmoid of revolution is
removed. The steepness of the crater wall is controlled by
a parameter in the construction of the sigmoid function
and can either be fixed for all the craters (the usual case
for the random small craters) or varied per crater (based
on prior information for the known craters). As is known,
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crater void having been filled in by debris from other
impacts.
The resulting debris from the crater is then dumped on
either side of the rim, roughly in a Gaussian shape, to
form the ejecta blanket. The procedure takes care to
avoid rough transitions near the rim (in certain
pathological cases, e.g., where the crater just happens to
fall at the edge of a cliff).
Next, a small mound is added to the center of crater to
match observed patterns.
This low-frequency terrain is run through a two-
dimensional FIR filter to smooth out the rough edges.
Finally, the high-frequency terrain content, that was
previously removed, is added back in to provide a realistic
texture to the surface.
Visual Explanation of the Process This is better
 explained in the accompanying figures which shows the
process. Here we create a 100-m DEM over a 51.2 x 51.2
km area. Figure 2 shows the fractal terrain generated
using the random midpoint displacement method on a pre-
existing low-resolution DEM. Figure 3 shows the process
of carving out the core of a crater. The crater is carved out
of the base surface, which is the fractal terrain with its
LunarSim lunar terrain generator, may be provided as an
option in the future. This model is described in Ref. 3
(although it does not provide enough details to implement
the model; further details has be sought from the authors).
That model uses polynomials to model the crater basin

Figure 6. DEM-Maker-Add small craters randomly drawn from the crater/size distribution

Figure 7. DEM-Maker-Finally, add back in the high-frequency content

high-frequency content removed. Figure 4 shows the and ejecta.

result of adding the central mound and the rims to the
crater. Then, all the known craters from the crater
database are added (Figure 5). Figure 6 shows the
addition of small craters. As described earlier, the
locations are random. The number and size of these
craters are random draws from the crater size/distribution
data base. Finally, the high-frequency content is replaced.
The resulting surface looks like that in Figure 7.
Alternate Lunar Crater Model An alternative lunar
crater model, adapted from the European Space Agency's
DEM Output Currently, the DEMMaker outputs the
DEM in a simple binary format similar to the USGS DEM
format. Once the ALHAT DEM format requirements are
finalized, the DEMMaker output will be modified to
comply with the requirement.
6. EXAMPLE OF A GENERATED HIGH-
RESOLUTION DEM

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 The following example shows a DEM generated by the This paper explored different methods that APL is using
DEMMaker: 25-m resolution, centered around the Lunar to provide "realistic" digital elevation maps and hazard
South Pole, size 400 km by 800 km. Shackleton crater is information. Several missions are underway to map the
the small crater in the middle of the picture. Figure 1 entire lunar surface. As data from these missions becomes
shows a detail of the same area from a composite image available, APL will incorporate that data into its models
of the lunar southern hemisphere taken from Clementine to provide the "latest and greatest" lunar terrain model to
(from Ref. 13). Note that this is a composite of several ALHAT.
images (taken with different sun angle azimuths). The
dead space in the center (near the poles) is not a ACKNOWLEDGEMENTS
topographical feature, but absence of data.
The authors thank Dr. Ben Bussey, Dr. Jeff Plescia, Dr.
Figure 8 shows the image as would be generated by a Paul Spudis, and other APL staff for their help with
camera high above the Lunar South Pole using the creating the lunar DEMs. The support of the ALHAT
generated DEM. The sun elevation was 1.5 deg (about Project Manager, Dr. Chirold D. Epp, and the entire
the maximum sun elevation given that the lunar axis is ALHAT team is greatly appreciated. Special thanks to
about 1.3 deg from the ecliptic and the sun's angular Sohrab Mobasser for help with this conference. Finally,
radius is about 0.25 deg). Figure 9 shows the image the authors thank the reviewers for valuable comments
rendered by a camera looking obliquely at the same scene. and suggestions.
This is representative of the view from a lunar lander
during its descent near the South Pole. Figures 8 and 9 This work is supported by NASA contract
show the difficulty in navigating to the Lunar South Pole NNN06AAO1C.
(and similarly, the Lunar North Pole) under the best of
lighting conditions. This accentuates the need for high- REFERENCES
resolution lunar terrain data for ALHAT.
[1] Ben Bussey and Paul Spudis, Clementine
APL has been tasked with providing accurate lunar terrain Atlas of the Moon, Cambridge
information for the ALHAT program. At this time, University Press, 2004.
accurate data is not available for all regions of the moon.

tigure 8. Example o0 a generated DLEMAVI. hle picture shows a rendered view as wOld be seen by a camera directly
over the South Pole with the Sun at 1.5° elevation (the peak sun elevation for the South Pole). Shackleton crater is
the small dim crater in the middle. This view was rendered from a generated 800km x 400 km DEM centered
around the lunar South Pole.

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 [2] Alain Foumier, Don Fussell, and Loren Carpenter, [9] Indian Space Research Organization (ISRO),
"Computer Rendering of Stochastic Models," "[Chandrayaan's] Terrain Mapping Camera
Communication of the ACM, June 1982. (TMC)" webpage at

[3] Stephen M. Parkes, lain Martin, "Virtual Lunar accessed 18 Oct., 2007.
Landscapes for Testing Vision-Guided Lunar
Landers," December 4, 2006.

r igure v. Al uDiique view v romi a1 pawcecraiil appro-aclnwinIg ahnLaKeCLUIo t-ratLer kInC smaIIw crater-owaIrus
the middle). This view was rendered using the same generated DEM as in the previous figure. The low
sun elevation (1.50) causes the dark view and long shadows.

[4] Japanese Aerospace Exploration Agency (JAXA), [10] Arizona State University, Space Exploration
"[Kaguya's Laser Altimeter (LALT)" website at Resources, "Apollo Image Archive" webpage,
hjt,-//go11.seas.asu.ed, accessed 18 Oct. 2007.
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[11]H. J. Melosh, Impact Cratering-A
[5] Japanese Aerospace Exploration Agency (JAXA), Geologic Process, Oxford University
"[Kaguya's] Terrain Camera" website at Press, 1989.
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Modeling:A Survey," in Central European
[6] NASA, "Lunar Orbiter Laser Altimeter (LOLA)" Seminar on Computer Graphics, 1997, available at
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accessed Oct. 18, 2007. ml, accessed 18 Oct. 2007.
[7] NASA, "Lunar Reconnaissance Orbiter Camera [13] US Naval Research Laboratory, "Clementine
(LROC)" webpage, Collection," . website
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Oct. 2007. lect/ishp.otmi, accessed 18 Oct. 2007.
[8] Indian Space Research Organization (ISRO), [14] China National Space Administration website,
"[Chandrayaan's] Lunar Laser Ranging "Payloads of Chang'e 1,"
Instrument (LLRI)" webpage at http- llwww.cnsaeov Oc/n65709/n772514/n777
43/93746.html, accessed 18 Oct. 2007.
accessed 18 Oct., 2007.

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 [15] Malin Space Science Systems, "Lunar Whiting School ofEngineering.
Reconnaissance Orbital Camera" website
accessed 22 Oct. 2007. Wen-Jong Shyong received his Ph.D. in Applied
Mathematics in 1991 from University ofMaryland
[16] Dewey Adams, Tom Criss, and Uday Shankar, Baltimore County. HejoinedAPL in 1997 as a senior
"Passive Optical Terrain Relative Navigation professional staff and is
Using APLNav" Paper 1646, The 2008 currently in the Mission Design,
AIAA/IEEE Aerospace Conference, Big Sky, Guidance, Navigation, and
MT, March 2008. Control Systems Grounp of the
Space Department. He has over
L17] Dr. Chirold Epp, Edward Robertson, and Tye 15 years of experience in
Brady, "Autonomous Landing and Hazard developing software to support
Avoidance Technology (ALHAT)," Paper 1644, various Space Missions.
The 2008 AIAA/IEEE Aerospace Conference,
Big Sky, MT, March 2008.
Dewey Adams is the Assistant Supervisor of the
[18] Xinhua News, "Data from Chinese Lunar Orbiter Mission Design, Guidance, Navigation, and Control
Available to All," Dec. 2, 2007, accessed from Systems Group in the Space Department of the Johns
Xinhua's website: Hopkins University Applied
"http:/news.xinhuanet.com/english/2007- Physics Laboratory. Mr. Adams
12/02/content_7187500.htm" has more than twenty-five years
experience in spacecraft systems,
BIOGRAPHIES attitude control and Ballistic
Missile Defense systems
engineering. Previously he was
Manager ofAttitude Control
Uday Shankar received his Ph.D. in Aerospace Components Engineering at
Engineering from Virginia Tech. He is a Senior Orbital Sciences Corporation in
Professional Staff in the Mission Dulles VA. He also serve at
Design, Guidance, Navigation, Lockheed Martin Astro Space in
and Control Systems Group in Princeton NJ where he was the lead attitude control
the Johns Hopkins University systems engineer to TIROS-A TN, Landsat and a
Applied Physics Laboratory's several types ofgeosynchronous communications
Space Department. He is satellites. He also has extensive experience in Ballistic
currently a lead engineer in Missiles Defense Systems Engineering, serving as
ALP's effortsfor the ALHA T Manager for the Forward Based Sensors Program
program. Dr. Shankar has over while at System Engineering Group in Columbia MD.
twenty years experience in spacecraft systems, missile In 1990, he received a M.S. in Mechanical and
systems, guidance, navigation and controls. He is a Aerospace Engineering from Rutgers University. In
Senior Member ofAIAA and a Member ofIEEE. 1982, he received B.S. in Aeronautical and Aerospace
Engineeringfrom The Pennsylvania State University.
Mr. Adams is a member of the AIAA.
Thomas B. Criss received his Ph.D. in Physics from
the University of Texas at Austin in 1975 andjoined
APL in 1976 as part of the
Strategic Systems Department.
He has extensive experience in
image processing, signal
processing, position reference
systems, photo-grammetry, and
numerical and optimization
techniques. Dr. Criss has
collaborated with researchers at
The Johns Hopkins University
(JHU) Medical School on the development of
algorithms for optimizing delivery of radiation to treat
brain tumors. He has taught graduate-level courses in
image processing and general relativity at the JHU
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