A nine-aperture, wide-field Fizeau imaging telescope has been built at the Lockheed-Martin Advanced Technology Center. The telescope consists of nine, 125 mm diameter collector telescopes coherently phased and combined to form a diffraction-limited image with a resolution that is consistent with the 610 mm diameter of the telescope. The phased field of view of the array is 1 murad. The measured rms wavefront error is 0.08 waves rms at 635 nm. The telescope is actively controlled to correct for tilt and phasing errors. The control sensing technique is the method known as phase diversity, which extracts wavefront information from a pair of focused and defocused images. The optical design of the telescope and typical performance results are described.

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Star-9 is an experimental demonstration of distributed-aperture imaging built at the Lockheed Martin Advanced Technology Center. White light from a scene generator enters an array of nine telescopes and is combined at a focused image plane. Relative aberrations from each telescope are regulated by a control system using phase diversity and active relay mirrors. A Weiner filter is applied to the image, and the resulting angular resolution and image quality are nearly diffraction-limited with the diameter of the array. The control system takes estimates from the phase diversity algorithm and uses them to command mirrors to adjust tip, tilt, and piston in each telescope. Each active mirror has inductive position sensors for local position control. The mirrors are actuated by picomotors and inchworm motors. In addition to tip/tilt/piston errors, the control system is equipped to correct for pupil geometry and rotation errors, and to perform field of regard steering. In this paper, we present details on the control system's local sensing, control law synthesis, and precision actuation methodology. We also describe the incorporation of phase diversity and automated phasing algorithms with the control system and give performance results.Index Terms-Active optics control system, distributed aperture, Fizeau imaging system, multiple telescope array, phased array telescope.

An Intelligent Mobile Sensing System (IMSS) has been developed for the automated inspection of radioactive and hazardous waste storage containers in warehouse facilities at Department of Energy (DOE) sites. A two-dimensional space of control modes was used that provides a combined view of reactive and planning approaches wherein a two dimensional situation space is defined by dimensions representing the predictability of the agent's task environment and the constraint imposed by its goals. In this sense selection of appropriate systems for planning, navigation, and control depends on the problem at hand. The IMSS vehicle navigation system is based on a combination of feature based motion, landmark sightings, and an a priori logical map of the mockup storage facility. Motion for the inspection activities are composed of different interactions of several available control modes, several obstacle avoidance modes, and several feature identification modes. Features used to drive these behaviors are both visual and acoustic.

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