Pre-Flight Calibration of the Mars 2020 Rover Mastcam Zoom (Mastcam-Z) Multispectral, Stereoscopic Imager.

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 ∘ × 19.1 ∘ FOV ) to 110 mm ( 6.2 ∘ × 4.2 ∘ 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 ± 0.1  cm and a toe-in angle of 1.17 ± 0.03 ∘ (per camera). Each camera uses a Kodak KAI-2020 CCD with 1600 × 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 t h and May 9 t h , 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 MTF 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. SUPPLEMENTARY INFORMATION: The online version contains supplementary material available at 10.1007/s11214-021-00795-x.

The Mars 2020 Perseverance Rover Mast Camera Zoom (Mastcam-Z) Multispectral, Stereoscopic Imaging Investigation.

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.

[Evaluation of therapeutic success by patients with anxiety disorders after inpatient psychotherapy]. / Bewertung des Therapieerfolgs durch Patienten mit Angststörungen nach stationärer Psychotherapie.

OBJECTIVE: To identify factors influencing the subjective assessment of patients regarding the outcome of in-patient psychotherapy for anxiety disorders. METHODS: A total of 231 patients were tested at admission, discharge and 1-year follow-up in a multi-center study. Subjective outcome assessment was measured with the revised German version of the Helping Alliance Questionnaire. The use of the term "outcome satisfaction" is discussed. RESULTS: Patient outcome assessment did not correlate with age, sex, or education, or with duration or severity of illness or duration of treatment. Outcome assessment was closely connected with therapy success. Reaching a low symptom level ("clinical significance") had a higher impact than a high pre-post-difference ("statistical significance"). CONCLUSIONS: Anxiety patients give a generally positive assessment of their therapy outcome, which is most determined by symptom-related treatment success. The differentiation of "clinical" and "statistical significance" of success is of importance for the patient's subjective view of the therapy outcome.

[Patients (getting themselves) referred to psychosomatic rehabilitation--guidelines for sociomedical evaluation and management of extrinsically motivated patients]. / Der "geschickte" Patient in der psychosomatischen Rehabilitation--Leitlinien für die sozialmedizinische Beurteilung und Behandlung von fremdmotivierten Patienten.

This paper reflects the thinking, experience as well as diagnostic and therapeutic strategies of the Gelderland specialized clinic for psychotherapy and psychosomatic medicine with regard to extrinsically motivated patients, i.e., patients "sent" for treatment. The objective is to develop a therapeutic concept and to establish guidelines concerning the sociomedical aspects to be taken into account in this patient group. The problem analysis should start out at the situation at hand initially: Not only do these patients as a rule refuse to take an active part in therapy; they all to often attempt to sabotage any rehabilitation offers perceived as running counter to their own desires and goals (e.g. pension, retraining, collection of benefits during illness-related unemployment, etc.). Attempts to elucidate the psychosomatic problem complex of these patients are in addition hampered by their predominantly body-centred concept of disease. The particular motivational and therapy-related features of these patients are illustrated by case studies. A standardized procedure for sociomedical performance appraisals is presented which takes the specific features of this patient group into account and has stood the test in the clinical setting. Special mention should be made of: pre-admission diagnostics, inpatient psychodiagnostics, multidisciplinary systematic behavioural observation of the patient in the framework of group therapy, and a sensitive approach to conveying diagnostic results to the patient. The double role of psychotherapist and appointed expert is one demanding the highest degree of professional expertise. Besides, the expectations of the social security and financially responsible agencies which "sent" the client have to be taken into account as well. The sociomedical evaluation serves as the starting point for all therapeutic efforts and identification of the extent of a patient's extrinsic motivation. Along with a thorough review of the patient's medical records, pre-admission diagnostic efforts are in place in this respect for assessing a patient's motivation for therapy.

[Considerations for a "general model of psychosomatic rehabilitation" with departments for appropriate treatment intensity and required length of stay]. / Uberlegungen zu einem "Allgemeinen Modell der psychosomatischen Rehabilitation" mit Ableitungen zur angemessenen Behandlungsintensität und erforderlichen Verweildauer.

Studies undertaken in the scientific area of general systems theory generally seek to elucidate central interrelationships. This paper its no exception in that it presents a "general model of psychosomatic rehabilitation". This new Y-shaped model was inspired firstly by the "general model of psychotherapy" and secondly by general systematic considerations on medical rehabilitation. It was first used to assess the progress of patients undergoing inpatient psychosomatic rehabilitation and to determine the relationship between treatment intensity and length of time-sensitive psychotherapy.

[Psychosomatic rehabilitation. Self-image, rehabilitative concepts, psychotherapeutic approaches, need vs. demand issues]. / Psychosomatische Rehabilitation. Selbstverständnis, rehabilitative Konzepte, psychotherapeutische Ausrichtungen, Bedarfs- und Indikationsfragen.

To provide optimal medical care for patients with psychosomatic disorders, rehabilitation and acute medicine should be viewed as separate but related parts of one overall health care concept. Psychosomatic rehabilitation now plays a major role in the care of chronically ill patients beyond the framework of traditional medical psychotherapy. The self image and rehabilitative concepts of this field are strongly influenced by two cornerstones of psychotherapy: psychodynamics and behavioral science. In the past the main factors used to define requirements for inpatient care were the capacity of existing facilities and the degree of their utilization; what was and still is lacking is an expert assessment of real demand. By offering programs for a broad spectrum of chronic disorders, the field of psychosomatic rehabilitation has achieved impressive therapeutic results at moderate cost; this assertion is substantiated by numerous analyses of the health care system. However, the high quality standard in the field of psychosomatic rehabilitation is currently endangered by politically motivated economic measures and the accompanying reduction of therapy time. If this counterproductive trend is not halted, the inevitable outcome will be suboptimal--in particular for chronically ill patients. In conclusion, possibilities are outlined for improved networking among professionals in psychosomatic rehabilitation.

Operational diagnostic approaches in the assessment of defense mechanisms.

A model for the operationalization of empirical research of defense mechanisms is presented. Measures for operationalized defense diagnoses are discussed against the background of a cognitive model of different coding of information channels (linguistic and perceptual coding). Studies for the operationalized diagnoses in the clinical assessment of defense mechanism are discussed for the identification of the defense mechanism, reliability of rating procedures, and the prognostic aspects in psychotherapy and psychosomatics. The regulation of defense on different levels of a hierarchy of complex systems of variables is demonstrated with paradigmatic results.

[Animal welfare law requirements for calf, swine and laying hen husbandry--experiences from Thüringen]. / Tierschutzrechtliche Anforderungen an die Kälber-, Schweine- und Legehennenhaltung--Erfahrungen aus Thüringen.

Results of an analysis are presented, concerning the situation of animal welfare in keeping and housing of calves, pigs and laying hens. It is observed, that stockholders are making great efforts to follow the animal welfare regulations. Remaining problems of animal welfare in farms are described.

[The functional and hygienic evaluation of a thermal exchange storage apparatus for recovering warmth from outgoing stable air]. / Untersuchungen zur funktionellen und hygienischen Bewertung eines Thermowechselspeichers zur Wärmerückgewinnung aus der Stallabluft.

By means of a thermo exchange apparatus it is possible to recover 70 to 80 percent of warmth of the stable air for heating. Thus much energy for climatizing can be saved. Alternating directions of to and from air streams may cause re-influx of germs, dependent on percentage of dust. This risk can be minimized by using an apparatus each for relatively small units separately.

[Illness behavior and depression in tinnitus patients]. / Klagsamkeit und Depression bei Ohrgeräuschpatienten.

Tinnitus patients often complain of psychosomatic disorders and of problems in social life. We intended to prove the modulation of tinnitus perception by psychosocial factors. We examined 48 tinnitus patients, 35 with and 13 without hearing loss. A control group of 48 patients without tinnitus, without hearing disorder and without tumor disease was adapted to correspond to the tinnitus group in respect of age, sex and social factors. A quantitative assessment of complaints as well as of the intensity of depression was made via questionaires (Giessener Beschwerdebogen and Beck Depression Inventory). In tinnitus patients, we found a statistically significantly higher degree of complaints even for non-otological symptoms. They were statistically more depressive than the controls, but less than patients with endogenic depression usually are. Nevertheless, in tinnitus patients it seems to be reasonable to inquire after general symptoms of illness to assess whether cooperation with a psychiatrist is required before initiating somatic treatment.

[The correlation of psychosocial stress and disease activity in patients with Crohn disease and ulcerative colitis]. / Uber den Zusammenhang von psychosozialem Stress und Krankheitsaktivität bei Patienten mit Morbus Crohn und Colitis ulcerosa.

The following study examines the correlation of psychosocial stress and disease activity in patients suffering from chronic inflammatory bowel diseases. 70 patients with Crohn's disease and 44 patients with ulcerative colitis took part in this study. Using an inventory for the registration of life-changing events, psychosocial life-events of the last 24 months were inquired. The disease activity was registered by an activity index created for this particular purpose. Due to the formulation of the question, pure subjective data were not considered. With regard to the social data, the two samples can very well be compared with other epidemiological studies. For the group of Crohn-patients, a significant correlation between psychosocial stress and a subsequent increased disease activity was demonstrated. Surprisingly, the group of patients with ulcerative colitis did not show this correlation.

[A test of symptom validity in assessing functional symptoms]. / Test zur Symptomvalidität zur Einschätzung funktioneller Symptome.

Symptom Validity Testing was developed to evaluate complaints of sensory deficits. The assessment is based on the inability of patients to perceive a sensory signal. Subjects must guess the signal using the model of coin flipping (head or tail). The signals are presented randomized in an equal number of alternatives. A 50-percent hit-rate for enough trials is expected in a true sensory deficit. Deceptive patients are expected to perform a hit-rate below the probabilities of chance.