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ISSN 0038�0946, Solar System Research, 2015, Vol. 49, No. 5, pp. 285–294. © Pleiades Publishing, Inc., 2015.Original Russian Text © A.M. Abdrakhimov, A.T. Basilevsky, M.A. Ivanov, A.A. Kokhanov, I.P. Karachevtseva, J.W. Head, 2015, published in Astronomicheskii Vestnik, 2015, Vol. 49,No. 5, pp. 323–331.
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INTRODUCTION
When studying the surface characteristics of thelanding site region for the proposed Luna�Glob Rus�sian mission (Marov et al., 2014; Zelenyi and Pop�ovkin, 2014), we faced the necessity of providing theengineers of this mission with the probable distribu�tion of the surface slopes given the baseline of a spanbetween the lander’s pads (~3.5 m). The planned land�ing site of the Luna�Glob probe is in the bottom of thecrater Boguslawsky in the southern polar region of theMoon (D = 95 km; 72.9° S, 43.26° E), where two pos�sible landing ellipses of 15 × 30 km in size each werechosen (Fig. 1).
From the photogrammetric analysis of stereo pairsof the images acquired with a resolution from 0.5 to 1.5m by the LROC NAC camera on board the LunarReconnaissance Orbiter (the NASA LRO mission)(Robinson et al., 2010), digital terrain models
(DTMs) for a number of regions of the lunar surfacewere developed. These DTMs allow the surface slopesto be estimated on a baseline of a few meters. Such is,for example, the DTM produced in the PlanetologyInstitute (DLR, Berlin) for the Lunokhod�1 study area(Karachevtseva et al., 2013), which we use in the fur�ther analysis. However, if the surveying spacecraft is ina polar orbit, it is difficult to analyze the images of thenear�pole regions taken from the neighboring orbitsdue to rotating the images in azimuth and, conse�quently, changing the parallax, though precisely theimages from neighboring orbits usually form the inves�tigated stereo pairs. Because of this, the DTMs builtfrom the LROC NAC images for the region of the cra�ter Boguslawsky, which is close to the southern pole, isstill lacking. In this situation, we consider whether thedistribution of slopes of different steepness at the3.5�m baseline can be estimated by other means, spe�
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Occurrence Probability of Slopes on the Lunar Surface: Estimate by the Shaded Area Percentage in the LROC NAC Images
A. M. Abdrakhimova, A. T. Basilevskya, b, c, M. A. Ivanova, b, c, A. A. Kokhanovb, I. P. Karachevtsevab, and J. W. Headc
a Vernadsky Institute of Geochemistry and Analytical Chemistry (GEOKHI), Russian Academy of Sciences, ul. Kosygina 19, Moscow, 119991 Russia
b Moscow State University of Geodesy and Cartography (MIIGAiK), Gorokhovskii per. 4, Moscow, 103064 Russiac Brown University, Providence, RI 02912, United States
e�mail: [email protected] March 30, 2015
Abstract—The paper describes the method of estimating the distribution of slopes by the portion of shadedareas measured in the images acquired at different Sun elevations. The measurements were performed for thebenefit of the Luna�Glob Russian mission. The western ellipse for the spacecraft landing in the crater Bogus�lawsky in the southern polar region of the Moon was investigated. The percentage of the shaded area was mea�sured in the images acquired with the LROC NAC camera with a resolution of ~0.5 m. Due to the close vicin�ity of the pole, it is difficult to build digital terrain models (DTMs) for this region from the LROC NACimages. Because of this, the method described has been suggested. For the landing ellipse investigated,52 LROC NAC images obtained at the Sun elevation from 4° to 19° were used. In these images the shadedportions of the area were measured, and the values of these portions were transferred to the values of theoccurrence of slopes (in this case, at the 3.5�m baseline) with the calibration by the surface characteristics ofthe Lunokhod�1 study area. For this area, the digital terrain model of the ~0.5�m resolution and 13 LROCNAC images obtained at different elevations of the Sun are available. From the results of measurements andthe corresponding calibration, it was found that, in the studied landing ellipse, the occurrence of slopes gen�tler than 10° at the baseline of 3.5 m is 90%, while it is 9.6, 5.7, and 3.9% for the slopes steeper than 10°, 15°,and 20°, respectively. Obviously, this method can be recommended for application if there is no DTM ofrequired granularity for the regions of interest, but there are high�resolution images taken at different eleva�tions of the Sun.
Keywords: Moon, crater Boguslawsky, estimate of slopes, analysis of illumination, LROC NAC spaceborneimages, DTM, Luna�Glob
DOI: 10.1134/S0038094615050019
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cifically, by a portion of the shaded area in the LROCNAC images taken at different elevations of the Sun.
ESTIMATING THE DISTRIBUTION OF SLOPES
The distribution of slopes was estimated by the per�centage of the area occupied by shadows in the LROCNAC images for the western landing ellipse (centeredat 72.9° S, 41.3° E). However, in principle, this tech�
nique can be applied to any region of the Moon oranother body, if it is covered with a fair amount ofimages obtained at different elevations of the Sun. Forthe western landing ellipse in the crater Boguslawsky,there are 52 images with a resolution from 0.53 to1.27 m; and the Sun elevation angles α, at which theimages were taken, are within the limits from 4° to 19°.In Fig. 2, the landing ellipses and the scheme of cover�age of the western ellipse by the LROC NAC imagesare shown.
20 км
20 km
Fig. 1 The crater Boguslawsky (left) and the landing ellipses in this crater (right). Fragments of the mosaics of the LROC WASimages. North is up (NASA/GSFC/ASU).
41° 42°
41° 42°
73°73°
72°
74°
73°
72°
40° 45°
40°
10 km 3 km
Fig. 2. A scheme of the coverage of the western landing ellipse by the LROC NAC images (left) and a fragment of the left part ofthe figure containing one of the images (M1100968406LE), from which the shaded portion of the surface was determined (right).North is up (NASA/GSFC/ASU).
SOLAR SYSTEM RESEARCH Vol. 49 No. 5 2015
OCCURRENCE PROBABILITY OF SLOPES ON THE LUNAR SURFACE 287
Since the slopes and, consequently, the shadowsseen in the images on the lunar surface are mainly con�nected with craters that are circularly symmetric, therelation between the area portion occupied by shad�ows in the image taken at a specified elevation of theSun α and the area portion occupied by the surfaceslopes ≥α is undoubtedly direct. However, the shape ofthe crater’s slopes is rather complex: the upper part isrelatively gentle, the middle one is steep, and the lowerone is again gentler. Because of this, we attempt to findthe empirical connection between the shaded portionof the area and the portion occupied by slopes at the3.5�m baseline by the example of the Lunokhod�1study region. This region is covered with the LROCNAC images from 0.47 to 0.98 m in resolutionobtained at the Sun elevation from 2° to 24°, and it isdescribed by the above�mentioned DTM with a formalhorizontal resolution of 0.5 m. We made the resolutionof this DTM worse, 3.5 m, and divided the DTM intothe fragments corresponding to the LROC NACimage fragments covering this region. In each of the 13fragments, we measured the total sums of the slopeswith angles equal to or larger than the Sun elevation(α) at the moment of imaging. The percentage of thearea occupied by such slopes is the probability Р ofoccurrence of such slopes in a specified region of thesurface (Table A1 in Appendix). From the data pre�sented in Table A1, the occurrence probability of theslope ≥α was plotted as a function of the value of α foreach of the 13 regions (Fig. 3), and the obtaineddependence was approximated with empirical regres�sion.
As is seen from Fig. 3, the dependence for theslopes >2° constructed from 13 measurements is wellapproximated by the curve of empirical regression
P(α) = 144.19exp(–0.32α),
where P(α) and α are expressed in percentages anddegrees, respectively.
For this sampling, the determination coefficientR2 = 0.97 and dispersion σ2 = 0.13.
Further, within each of the 13 regions of theLunokhod�1 study area covered with the LROC NACimages, the shaded areas were determined (Table A2 inAppendix). Then, with the use of the DTM for theLunokhod�1 study area with a formal resolution of0.5 m, the model images were synthesized for each ofthe 13 regions covered with the LROC NAC images.In the synthesized images the elevations and azimuthsof the Sun correspond to the actual ones, and the areasoccupied by the model shadows were determined(Table A3 in Appendix). From the data based on theresults of the measurements in the LROC NAC andmodel images (see Tables A2 and A3), the dependenceof the shaded portion of the area Sshad on the Sun ele�vation α was plotted (Fig. 4).
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It is seen from the results shown in Fig. 4 that theshaded area portion in the Lunokhod�1 study regionobserved in the LROC NAC and model images natu�rally decreases with increasing the Sun elevation. Thedependencies of the shaded area percentages on theSun elevation for the measurements in the actual andmodel images are close, which serves as an indepen�dent verification of the correctness of the DTM usedfor constructing the model images. From these data wemay attempt to find the connection between theshaded area percentage measured in the LROC NACand model images for several elevations of the Sun α(Tables A2 and A3) and the area portion occupied bythe slopes ≥α at the 3.5�m baseline directly measuredwith the DTM for each of the 13 images (Table A1,Fig. 5).
As is seen from Fig. 5, there is a clear relationshipbetween the percentage of the shaded area in theimages obtained at the Sun elevation α and the per�centage of the area occupied by slopes ≥α at the base�line of 3.5 m. Its approximation yieldsSslope(α) = 0.89Sshad(α), R2 = 0.88, and σ2 = 63.60. Forrelatively steep slopes associated with small area por�tions, the dispersion of points in the plot is insignifi�cant. However, it substantially grows when the shadedarea reaches ~20%. Figure 4 shows that this value cor�responds to the Sun elevation α ≈ 7°. This is probablya joint effect of the slopes that are not associated withcraters, and of less accuracy of the DTM for smallerslopes.
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60
50
40
30
20
10
201050 15Slope α, deg
Occ
urre
nce
pro
babi
lity
P fo
r th
e sl
opes
> α
, %
Fig. 3. The area occupied by the slope equal to or largerthan the specified one (≥α) in dependence on the slopeangle α for the Lunokhod�1 study area. 1
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ABDRAKHIMOV et al.
For the data set corresponding to the shaded areaportions less than 20%, a special plot was constructed(Fig. 6).
As is seen in Fig. 6, the dispersion σ2 sharplydecreases in the regions with the shaded area less than20%, which corresponds to the slopes larger than 7° inthe Lunokhod�1 study region; and such slopes may becritical for the landing. The dependence of these twoparameters is as follows
Sslope(α) = 0.79Sshad(α), R2 = 0.93, and the dispersion σ2 = 3.76.
The proportionality coefficient close to unit indicatesthat the area of shadows for the angles exceeding 7° isclose to the area of the surface with slopes steeper thanthe solar illumination angle at the baseline of 3.5 m.
Combining the obtained interrelations of theshaded area and relief slopes for the highland regioninvestigated by the Lunokhod�1 rover (Fig. 6) and themeasurements of the shaded area under different illu�mination in the LROC NAC images (Fig. 4), one mayconstruct the graph from which the area occupied bythe slopes steeper than the illumination angle is esti�
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mated by the illumination angle in the LROC NACimage (indirectly, from the shaded area). The charac�teristic regression obtained for a specified lunar regionallows the area occupied by slopes steeper than a spec�ified angle to be estimated. In particular, such a pre�diction was made for the ellipse in the crater Bogus�lawsky (see Fig. 7). From the portion of the shadedareas observed in the LROC NAC images taken underthe Sun elevation α, one may estimate the area ofslopes ≥α at the baseline of 3.5 m (see Table A4 inAppendix).
DISCUSSION AND CONCLUSIONS
The estimates of slopes for the western landingellipse in the crater Boguslawsky and the slopes deter�mined from the DTM for the Lunokhod�1 studyregion (Karachevtseva et al., 2013) are shown in Fig. 7and tabulated.
As is seen from the data presented in the table, theoccurrences of the slopes less than 10° at the 3.5�mbaseline within the western landing ellipse in the craterBoguslawsky measured by the shaded area in theLROC NAC images and the slopes of the same steep�ness in the Lunokhod�1 study region measured fromthe DTM (Karachevtseva et al., 2013) are close. Inthese two regions, the surface slopes gentler than 10° atthe baseline of 3.5 m occupy approximately 90% of thearea. For the steeper slopes, the measurements for thewestern landing ellipse in the Boguslawsky crater and
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50
40
30
20
10
201050 15Illumination angle α, deg
Sh
aded
are
a S
shad
, %
Fig. 4. The shaded area portion in relation to the Sun ele�vation α for the measurements in the LROC NAC images(filled circles) and the model images built from the DTMwith the formal resolution of 0.5 m (open circles). Thedash�dotted, dotted, and solid curves show the regres�sion for the shaded areas measured in the NAC images(SNAC shad(α) = 79.89exp(–0.19α)), in the model images(SDTM shad (α) = 134.49exp(–0.30α)), and the totalregression for the shaded areas measured in the NACimages and calculated from the model images with theDTM (Sshad(α) = 103.66exp(–0.25α), respectively.Sshad(α) and α are expressed in percentages and degrees,respectively. All the regressions are given for the slopessteeper than 1°.
60
50
40
30
20
10
8040200 60Shaded area Sshad(α), %
Are
a S
slo
pe(α
) w
ith
slo
pes
stee
per
th
an t
he
illu
min
atio
n a
ngl
e α
, %
Fig. 5. The area portion occupied by the slopes ≥α at the3.5�m baseline in relation to the percentage of shadedareas measured in the LROC NAC and model imagesobtained at the Sun elevations α for the Lunokhod�1 studyregion.
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OCCURRENCE PROBABILITY OF SLOPES ON THE LUNAR SURFACE 289
for the Lunokhod�1 study region show the differences:the occurrences of slopes steeper than 10°, 15°, and20° are 9.6, 5.7, and 3.9% and 6.1, 1.3, and 0.3% in thelanding ellipse and the Lunokhod�1 region, respec�tively. This is evidently connected with the differences
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in the properties of the “reference” surface in thesetwo regions rather than with the differences in themeasurement technique. As has been shown above(see Fig. 4), the measurements within the same regionperformed with these two methods yield similar results.
20
16
12
8
4
201240 16Shaded area Sshad(α), %
Are
a S
slo
pe(α
) w
ith
slo
pes
stee
per
than
th
e il
lum
inat
ion
an
gle α
, %
8
Fig. 6. The area portion occupied by the slopes ≥α at the 3.5�m baseline in relation to the percentage of shaded areas in theimages obtained at the Sun elevations α for the Lunokhod�1 study regions with the shaded area less than 20%.1
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50
40
30
20
10
201050 15Slope α, deg
Occ
urr
ence
pro
babi
lity
fo
r sl
op
es >
α,
%
Fig. 7. The percentage of the shaded areas observed in the LROC NAC images taken under the Sun elevation α in relation to thevalues of slopes ≥α at the 3.5�m baseline for the Lunokhod�1 study region (circles) and the western landing ellipse in the craterBoguslawsky (diamonds). The regressions for the measurements with the DTM for the Lunokhod�1 study region (Pslope(α) =144.19exp(–0.32α), R2 = 0.97, and σ2 = 0.13) and for the measurements of the probability of the slope occurrence by the shadedareas in the crater Boguslawsky (Pslope(α) = 187.07α–1.29, R2 = 0.83, and σ2 = 0.07) are shown with solid and dashed curves,respectively.
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Probably, the point is that the craters are superim�posed on the “reference” surface that is mare andalmost horizontal in the Lunokhod�1 study region,while it is rougher, containing hillocks and agglomer�ates of secondary craters within the western landingellipse in the crater Boguslawsky (Ivanov et al., 2014).
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In the latter case, the superimposing of small craterson the slopes of hillocks or larger craters will raise aportion of the area with slopes larger than 10°. Forexample, this is seen in Fig. 8, where the distributionsof slopes for the Lunokhod�1 study region and thewestern ellipse in the crater Boguslawsky at the base�
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100
10
1
0.1
0.01
0.001
9–10
8–9
7–8
6–7
4–5
2–3
0–1
3–4
1–2
5–6
10–
11
11–
12
12–
13
Slope, degree
Are
a, %
Fig. 8. Distribution of slopes at the baseline of 100 m for the Lunokhod�1 study region (black filling, the DTM data according toKarachevtseva et al., 2013) and in the western landing ellipse of the crater Boguslawsky (gray filling, the data of the LOLA laseraltimeter).
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Comparison of the estimates of the occurrence probability for the slopes steeper than 2°–20° within the western landingellipse in the crater Boguslawsky and for the Lunokhod�1 study region
Slope α, degree
Occurrence probability for slopes ≥α
Slope α, degree
Occurrence probability for slopes ≥α
western landing ellipse
Lunokhod�1 study region
western landing ellipse
Lunokhod�1 study region
2 76.50 76.53 12 7.58 3.22
3 45.34 55.75 13 6.84 2.35
4 31.29 40.62 14 6.22 1.71
5 23.46 29.59 15 5.69 1.25
6 18.54 21.56 16 5.23 0.91
7 15.20 15.70 17 4.84 0.66
8 12.79 11.44 18 4.49 0.48
9 10.99 8.33 19 4.19 0.35
10 9.59 6.07 20 3.92 0.26
11 8.48 4.42
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OCCURRENCE PROBABILITY OF SLOPES ON THE LUNAR SURFACE 291
line of 100 m are shown. The occurrence frequency forthe close�to�horizontal slopes is higher in theLunokhod�1 study region than that within the westernellipse. At the same time, the slopes with steepnessfrom 2° to 7° more frequently occur within the westernellipse. The steeper slopes at the baseline of 100 m arevery rare in both of these regions.
It follows from the above that the method suggestedfor estimating the occurrence of slopes by the mea�surements of the shaded surface areas in the imagesobtained at different elevations of the Sun yields rea�sonable results. It is evident that the present approachcan be recommended for application, if there is noDTM of required granularity for the regions of inter�est, but there are high�resolution images taken underdifferent illumination conditions.
ACKNOWLEDGMENTS
The investigations were performed in GEOKHIRAS with the support of the Space Research Institute
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of RAS in terms of the development of the techniquefor estimating the slope occurrence (contractno. 13�2013 of August 23, 2013; A.M. Abdrakhimov,A.T. Basilevsky, and M.A. Ivanov). The developingand testing of the method, as well as the estimation ofthe slopes in the region covered by the LOLA data wereperformed in MIIGAiK with the support of the Rus�sian Scientific Foundation (project no. 14�22�00197;A.T. Basilevsky, M.A. Ivanov, A.A. Kohkanov, andI.P. Karachevtseva). The work of J.W. Head, A.T. Basi�levsky (in part), and M.A. Ivanov (in part) is supportedby the NASA LRO mission, LOLA experiment team(Grants NNX11AK29G and NNX13AO77G) andNASA Solar System Exploration Research VirtualInstitute (SSERVI) Grant for Evolution and Envi�ronment of Exploration Destinations under coop�erative agreement number NNA14AB01A atBrown University in respect of providing the dataaccessibility.
APPENDIX
Table A1. Areas occupied by the slopes, that are equal to or larger than the Sun elevation for a specified NAC image, within13 regions covered by these images in the Lunokhod�1
NAC image no. Area covered by the image, km2 Sun elevation α, degree Area
with a slope ≥α, km2Percentage of the area
with a slope ≥α, %
M148395010LE 7.22 2.23 4.822 67
M133057617RE 0.43 5.25 0.125 29
M133057617LE 8.63 5.33 1.870 22
M131881859RE 1.04 5.6 0.170 16
M131881859LE 6.98 5.67 1.404 20
M147210569RE 7.33 8.43 0.666 9
M147210569LE 1.72 8.5 0.206 12
M162542164RE 8.10 10.04 0.520 6
M162542164LE 0.95 10.1 0.099 10
M177859616RE 1.64 12.19 0.039 2
M177859616LE 7.38 12.26 0.351 5
M166072850LE 8.76 20.9 0.024 0.3
M114185541RE 7.44 23.58 0.003 0.05
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Table A2. Shaded areas in the fragments of the NAC images covering the Lunokhod�1 study area
NAC image no. Image resolution, m
Sun elevation, degree
Sun azimuth, degree
Area covered by the image,
km2
Shaded area, km2
Percentage of the shaded area,
%
M148395010LE 0.78 2.23 268 7.22 4.52 63
M133057617RE 0.52 5.25 266 0.43 0.15 35
M133057617LE 0.52 5.33 266 8.63 4.16 48
M131881859RE 0.47 5.6 94 1.04 0.37 35
M131881859LE 0.47 5.67 94 6.98 2.10 30
M147210569RE 0.97 8.43 97 7.33 0.59 8
M147210569LE 0.97 8.5 97 1.72 0.21 12
M162542164RE 0.46 10.04 262 8.10 0.76 9
M162542164LE 0.46 10.1 262 0.95 0.10 10
M177859616RE 0.71 12.19 100 1.64 0.13 8
M177859616LE 0.72 12.26 100 7.38 0.47 6
M166072850LE 0.51 20.9 251 8.76 0.16 1.8
M114185541RE 0.51 23.58 111 7.44 0.09 1.2
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Table A3. Shaded areas in the model images for the fragments corresponding to the LROC NAC images covering theLunokhod�1 study area
NAC image no.Resolution
of the model image, m
Model elevation of the Sun,
degree
Model azimuth of the Sun,
degree
Area covered by the image,
km2
Area of the model shadow, km2
Area of the model shadow, %
M148395010LE 0.5 2.23 268 7.21 3.41 47.28
M133057617RE 0.5 5.25 266 0.42 0.10 24.48
M133057617LE 0.5 5.33 266 8.62 2.21 25.58
M131881859RE 0.5 5.6 94 1.03 0.22 21.16
M131881859LE 0.5 5.67 94 6.97 1.66 23.81
M147210569RE 0.5 8.43 97 7.32 0.99 13.50
M147210569LE 0.5 8.5 97 1.72 0.26 15.38
M162542164RE 0.5 10.04 262 0.95 0.11 11.80
M162542164LE 0.5 10.1 262 8.03 0.91 11.37
M177859616RE 0.5 12.19 100 1.64 0.03 1.69
M177859616LE 0.5 12.26 100 7.37 0.20 2.76
M166072850LE 0.5 20.9 251 8.75 0.02 0.28
M114185541RE 0.5 23.58 111 7.43 0.01 0.09
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OCCURRENCE PROBABILITY OF SLOPES ON THE LUNAR SURFACE 293
Table A4. Shaded areas in the fragments of the LROC NAC images covering the western landing ellipse in the crater Bo�guslawsky
NAC image no.Image
resolution, m
Sun elevation α,
degree
Sun azimuth,
degree
Area covered by the image,
km2
Shaded area, km2
Percentage of the shaded
area, %
Occurrence probability
for the slopes ≥α, %
M162017654RE 0.90 4.0 076 0.189 0.076 40.5 31.99M162017654LE 0.90 4.0 075 0.189 0.076 40.3 31.81M1096252582RE 1.02 4.6 282 0.018 0.012 64.1 50.62M1096252582LE 1.02 4.7 282 0.039 0.013 33.8 26.68M192651900RE 0.74 5.0 074 0.113 0.037 32.9 25.95M192651900LE 0.74 5.1 074 0.110 0.030 27.0 21.31M146724580RE 1.20 5.4 072 0.132 0.025 19.1 15.12M146717801RE 1.19 5.5 072 0.004 0.002 38.6 30.49M146724580LE 1.21 5.5 072 0.136 0.027 19.9 15.72M104241950RE 0.78 10 303 0.101 0.013 12.8 10.12M104241950LE 0.78 10 304 0.124 0.013 10.7 8.44M113685595RE 0.61 11 054 0.002 0.0002 10.5 8.33M113685595LE 0.61 11 054 0.017 0.002 9.9 7.85M1113856759RE 0.72 11 320 0.053 0.003 5.8 4.58M190292957RE 0.74 11 047 0.182 0.016 8.7 6.86M1113856759LE 0.72 11 320 0.047 0.003 6.7 5.29M190292957LE 0.74 11 047 0.171 0.018 10.6 8.39M1120924069RE 0.67 11 046 0.165 0.020 12.2 9.60M1120924069LE 0.67 12 046 0.169 0.024 14.3 11.28M113678789RE 0.61 12 054 0.118 0.016 13.2 10.40M1098617651RE 1.02 12 308 0.227 0.016 7.2 5.67M1098617651LE 1.02 12 308 0.145 0.008 5.5 4.37M152592668RE 0.91 13 325 0.196 0.015 7.5 5.94M152592668LE 0.91 13 325 0.182 0.015 8.1 6.37M126661851LE 0.90 13 026 0.057 0.004 7.8 6.19M157301731RE 0.88 13 022 0.006 0.0003 6.0 4.78M167947999LE 1.13 14 314 0.036 0.003 8.2 6.46M1116207916RE 0.71 14 349 0.021 0.002 7.6 6.04M1116207916LE 0.71 14 349 0.037 0.003 7.2 5.67M154954229RE 0.91 15 353 0.013 0.001 8.2 6.47M187934039RE 0.74 15 019 0.147 0.009 6.2 4.88M187934039LE 0.74 15 019 0.099 0.008 8.5 6.68M124292785RE 0.94 15 358 0.008 0.001 8.1 6.37M124292785LE 0.94 15 359 0.031 0.003 8.6 6.82M154940675LE 0.91 15 353 0.062 0.004 7.1 5.65M106606463RE 0.53 16 330 0.190 0.010 5.2 4.14M124299586LE 0.93 16 358 0.140 0.010 6.8 5.36M124299586RE 0.93 16 358 0.161 0.010 5.9 4.69M106606463LE 0.53 16 330 0.181 0.019 10.7 8.44M142009418RE 1.21 17 017 0.001 0.0001 4.8 3.82M142009418LE 1.21 17 017 0.051 0.004 7.3 5.77M1100968406RE 1.01 17 335 0.104 0.007 7.1 5.57M1100968406LE 1.01 17 335 0.157 0.013 8.3 6.57M111322501RE 1.25 17 027 0.329 0.019 5.6 4.46M111322501LE 1.25 17 026 0.300 0.018 6.1 4.82M111329279LE 1.26 17 026 0.093 0.007 8.0 6.28M108966224RE 0.61 18 358 0.046 0.002 4.5 3.55M108966224LE 0.61 18 358 0.101 0.008 8.1 6.38M1103332672RE 1.02 19 004 0.133 0.007 5.2 4.11M1103332672LE 1.02 19 004 0.165 0.012 7.0 5.53M1103325528RE 0.90 19 004 0.046 0.002 4.1 3.20M1103325528LE 0.90 19 004 0.006 0.0005 7.9 6.24
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ABDRAKHIMOV et al.
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Translated by E. Petrova
1
SPELL: 1. Lunokhod
