Abstract: A subsurface explorer (SSX) for exploring beneath the terrestrial surface of planetary bodies such as the Earth, Mars, or comets. This exploration activity utilizes appropriate sensors and instrument to evaluate the composition, structure, mineralogy and possibly biology of the subsurface medium, as well as perhaps the ability to return samples of that medium back to the surface. The vehicle comprises an elongated skin or body having a front end and a rear end, with a nose piece at the front end for imparting force to composition material of the planetary body. Force is provided by a hammer mechanism to the back side of a nose piece from within the body of the vehicle. In the preferred embodiment, a motor spins an intermediate shaft having two non-uniform threads along with a hammer which engages these threads with two conical rollers.

Abstract: A pipelined image processor selectively interconnects modules in a column of a two-dimensional array to modules of the next column of the array of modules 1,1 through M,N, where M is the number of modules in one dimension and N is the number of modules in the other direction. Each module includes two input selectors (10,11) for A and B inputs, two convolvers (12,13), a binary function operator (15), a neighborhood comparison operator (14) which produces an A output and an output selector (16) which may select as a B output the output of any one of the components in the module, including the A output of the neighborhood comparison operator. Each module may be connected to as many as eight modules in the next column, preferably with the majority always in a different row that is up (or down) in the array for a generally spiral data path around the torus thus formed. The binary function operator (15) is implemented as a look-up table (20) addressed by the most significant 8 bits of each 12-bit argument.

Abstract: A 3-by-3 convolver utilizes 9 binary arithmetic units (10) connected in cascade for multiplying 12-bit binary pixel values p.sub.i which are positive or two's complement binary numbers by 5-bit magnitude (plus sign) weights w.sub.i which may be positive or negative. The weights are stored in registers (13, 14 and 15) including the sign bits (shown separately for convenience). For a negative weight, the one's complement of the pixel value to be multiplied is formed at each unit by a bank of exclusive OR gates under control of the sign of the corresponding weight w.sub.i, and a correction is made by adding the sum of the absolute values of all the negative weights for each 3.times.3 kernel. Since this correction value remains constant as long as the weights are constant, it can be precomputed and stored in a register (16) as a value to be added to the product PW of the first arithmetic unit.