How good are we aware of the operations of systems and mechanisms that make us walk?

Costly research and development efforts are under way in centers throughout the world seeking to build walking robots by mimicking human mobility. After 14 years of research, automotive firms built Asimo, a robot which can walk bipedally and climb stairs like humans. Even though the moves Asimo could make matched those of a one year old baby, it was still considered a great success for the robot technology.

Hardships encountered during these research projects proved walking to be a great miracle, apart from normal habits of movement. We often become aware of how extraordinary movement is and that the moves we repeat hundreds of times, such as walking, running, bending, sitting and standing, are blessings granted to us only when we see someone who has lost some of their mobility.

That humans can walk bi-pedally is truly exceptional. Most organisms have a front leaning skeletal structure and walk on four extremities; they only stand upright when absolutely required to, since it is very difficult for them. Human ability to stand upright and walk on two legs truly signifies them as special amongst creatures, and sets them apart from all of creation. The lively, regal posture of dexterous bipedal humans constitutes very important evidence showing they are “the most superior of all creatures.”

The multifunctional, flexible nature of our skeletal system enables us to complete very simple moves automatically. Walking seems to be a very easy task, however, it occurs as a calculated outcome of many factors, such as determination of stepping distance, the toning of corresponding muscles of the same and opposite direction, relaxation and contraction levels, and relocation of the body’s gravity center.

Walking takes place via the coordinated works of the locomotor (musculoskeletal) system, motor control system, and balance-coordination system.

Locomotor (musculoskeletal) system

The framework of the human body is built together with 206 bones of variable hardness. With their strong nature and capacity to endure extra weights, bones takes up 20% of a body’s mass, and are the major load bearing part of the body’s structure.

The main part of our skeleton is the vertebral column. It consists of 33 small bones, known as vertebrae, positioned on top of each other. Wear-preventing discs are found in between vertebrae to protect against motion related wearing over time. As the vertebral column holds the weight of the upper body, it is created in a way to keep the body upright. The spinal cord inside the channel that is surrounded by the vertebral column is a very important signaling network providing coordination between the brain and other organs.

Joints and ligaments are among the moving parts of our body. The most important joints for walking are the hips, knees, and ankles. The curvy shape of the foot and its contact to the ground at three spots supports bones against body weight and helps with balance. This is why flat footed people struggle with walking and get tired easily. The curves of our spine at the neck, back and waist regions, and the hips, knee joints, and curvature of the foot, are perfectly shaped for standing upright and walking.

In order to move we need a muscle system along with the skeletal system. Muscles are made up of thousands of contractible muscle fibers. There are more than 6 billion muscle fiber motors in the human body. We walk, run, eat, breathe, talk and do many more moves by using ability granted to muscles. Approximately 35 muscles in each leg, and around 100 muscles in the whole body, function during walking.

Ligaments and tendons are links that secure bones and muscles together; they also help to stabilize joints, thus when standing, joints remain in place without muscles contracting.

Four different mechanisms are involved in walking:

1. Proper upright posture and maintenance of balance during walking
2. Forward motion of body via muscle power
3. Reduction of shock-impact effect while stepping
4. Maintenance of motion with the least amount of energy.

A series of movements is generated in the legs to provide a forward motion and these are constantly repeated. These constant repetitions are called the “walk cycle.” The “passing pose” is defined as the time frame when the leg is in the air, and the contact pose is the phase during ground contact. In the middle of the contact pose, even though body is in balance, because of the forward momentum of the body, balance is lost, thus the body leans forward. Balance is then restored by stepping on the ground with the leg in the air. As a result of this rhythmic loss and restoration of balance, the body moves forward.

In a person standing upright, the center of gravity is in front of the fifth vertebra. At the start of a walk, the body leans forward to carry the center of gravity towards the front; then the initiation of the motion via forward transfer of the power with toes and joints takes place, followed by the lifting of the heels, the bending of the knees, and the lifting of the foot, thus displacing the center of gravity of the forward leaning body towards the front.

Balance should be maintained when one leg is lifted in order to let the other leg carry the load of the body’s weight. The gravitational center of the body is located in the distance between the two legs since each leg is located on the side. Body balance is maintained by the contractions of dorsal muscles located across the side of the stepping foot, working in parallel to support and transfer body weight to the foot via the hip and femoral muscles. These events happen so quickly that we often do not even notice all the complicated processes.

The great Sufi figure Abdul-Qadir Gilani was often asked questions such as, “Master, show us a miracle.” He would stand up to walk three to five steps and sit back down. Everybody was confused, looking at each other. One person among them was heard saying, “Master, excuse us but we can all do that as well.” Gilani replied then, “Is there a greater miracle than walking? You see it, but do not understand.”

Motor control of walking

Bodily motions are controlled via the primary motor centers that are located on the side and cortex region of the brain. These centers are created in a way to prepare and organize motor programs involving body movements, and to integrate them with the proprioceptive memory. This synthesis of information enables the adaptation of motor commands to the present posture of the legs and arms regarding intended moves.

A desire to make a move is a necessary prerequisite for the stimulation of muscles pertaining to it. If we want to hold something, we can easily do it; when we want to raise our arm, our elbows bend; to run or walk, our leg muscles start to move and work. How do all of those moves happen? Is our desire enough to do so? Can the guidance of all the bones and muscles, working together towards the same target, happen by itself or occur via coincidences?

In order for muscles to move, our thoughts must be relayed to them and this is provided by the nervous system and nerve network. There is an amazing communication network present in our body. In case of an intended move, an electric signal is sent by the brain. During this journey, which seems to be complicated, the signal arrives at the spinal cord and then quickly diverts to the corresponding organ. Millions of motors that make up the muscle are stimulated by the electric signal, contracting the fibers instantly upon reception of the signal. In order to do a coordinated move, it is necessary to know the related body organs’ positions and their relations to each other. Millions of transmitters that provide this information have been placed throughout the body. This data come from the eyes, the inner ear’s balance and sensory organs, muscles, joints, and skin. There are billions of micro receptors located in muscles and joints programmed to send instantaneous positions of the body to the central nervous system. In every stage of a move, the positions of the muscles are reported instantly to the command center by these micro receptors inside the muscles. New commands are given to the muscles based on the assessments made here. This way, each second, billions of bits of information can be processed and assessed.

The cerebellum is another center that is in charge of functions such as maintenance of balance during walking and standing, carrying out proper and coordinated moves with visual control, providing coordination among muscle groups, promptly starting and stopping movements, and the maintenance and organization of normal muscle toning. The cerebellum is tasked primarily with hastened muscle activities like running, typing, and talking. Thus, fast moves necessary for the balance system are sustained properly and successively without abnormal oscillations.

Specific motion templates have been programmed in the spinal cord for all muscle-covered regions of the body. Rhythmic movements, such as forward and backward motion of the legs and arms, and coordinated activities of other body parts in tandem with walking, are controlled here. The task to control repeated moves like walking is assigned to the nerve network consisting of the spinal cord, brainstem and cerebellum.

Balance and coordination system

One of the requirements to walk and move is to stay in balance. Despite our advanced musculoskeletal system, without balance, this system of ours would be useless, or even dangerous.. Our balance system, which is in charge of the instantaneous control and fine adjustments regarding our body, is granted to us as a blessing of Divine compassion.

There are three systems that provide data involving the positions of the head and body: vestibular system (the apparatus of the inner ear), visual senses, proprioceptive senses

The vestibular structures are an essential part of the balance system. They are found in the inner ear, and are small and complicated systems. This 6.5 mm diameter wide system is composed of semicircular channels that contain specific fluid and ciliated sensory cells that cover the inner linings of the channels. This system constantly reports information involving our status in the outer world and instantaneous changes to the balance system.

When we move, the fluid inside the semicircular inner ear channels get displaced; this motion vibrates the cilia. This vibration causes an electric signal to generate in the cells. This electrical signal is then transmitted to the cerebellum; received information gets evaluated instantly in the cerebellum. This system is created to function autonomously without our will and control. When this system is impaired, balance disorders occur, such as dizziness.

Information regarding our position in the environment and the relative status of the environment according to us is sent to the cerebellum and brainstem via our visual senses.

Proprioceptive senses are formed via the activities of tension receptors built in muscle fibers, tendons and joint capsules. These are sensitive to motions and positions. These receptors regularly provide information to the central nervous system. The cerebellum receives information from all the muscles and joints of the body, including the eyes. These inputs are analyzed very promptly at the cerebellum, and the relative gravitational position of the body is finely calculated, thus the proper motions of muscles are determined. The resulting response is relayed towards muscles by nerves. These events take place in a time frame that does not even last for a hundredth of a second. We easily walk, run, and do complicated moves without feeling any of these activities happening inside us. Yet the calculations taking place in our body even for a single moment of those movements can fill thousands of pages.

To understand the fascinating side of our ordinary movements, let’s consider a person climbing up the stairs. First, the eyes scan the surroundings, then the three dimensional information of positions acquired from the materials and belongings in the environment are transmitted to the brain. Once received, the information is analyzed and the necessary commands are sent to the target organ from the motor centers of the brain. Commands passing through related tracks and centers finally arrive at the musculoskeletal system. Many factors, like the height of stair steps, length and depth of the foot step, center of gravity and position of the body, are calculated and determined almost instantly.

Proprioceptive signals constantly report the positions of organs, like the arms and legs, to the command center. Inner ear receptors are in charge of the prompt transmission of information necessary for balance, like motion, speed, and direction of the body. These inputs are calculated in milliseconds at corresponding centers in order to maintain the coordination and harmony of the entire body. A person who is running up the stairs may think to jump a couple of stairs. This change of command is rerouted to the locomotor system as a new and different command from the brain. All of these processes are completed in centiseconds. In the mean time, the head, shoulders, and arms are employed for rhythmic oscillations in order to adapt to the overall body momentum.

In conclusion, standing and walking are miraculous and take place via thousands of interrelated activities. Nonetheless, we usually do not notice any of the thousands of processes that are constantly taking place. One hopes that every blessing we have is seen through the window of thanksgiving and appreciation.

Kemal Serce is a professor of veterinary medicine in Bursa, Turkey.

“… there is a stable order in the world as well as a well-established connection, constant norms and fundamental laws. In this sense, the world is analogous to a clock or a well-designed machine. Every single wheel, every single screw, every single nail not only has a role in order of a machine and an impact in its final benefit but also positive consequences for all living beings, especially for humans.” (Signs of Miraculousness, Seven Heavens, p. 186)

There is a strong parallel between the general principles to be observed for a healthy social structure in a society and the necessary conditions that enable cells to make up a healthy tissue. The laws prevalent in the universe present amazing parallels since they derive from the same divine source. In order to have healthy development in societies, it is necessary to have healthy connections, reciprocal understanding, and correct information transfer between people. Similarly, having healthy cells, which can be considered as micro-societies, also depends on the cells’ continual use of complex signal connection networks and their maintenance of connections with their environments. In order to maintain a harmonious and healthy life in the cell, there must be dense information transfer (through chemical molecules) at all levels with neighbor cells. Thanks to the connection networks that start at their membranes, cells can recognize warnings coming to them and produce responses. Through such information networks, a continuous connection is established in living organisms, starting from their lowest level mechanisms (i.e. molecules in cells and organelles) to their highest level mechanisms (i.e. organs, systems, organisms, populations, ecosystems), in order to ensure a healthy and harmonious processes of development, reproduction, differentiation and aging. Organized as a tissue (micro-society), one of the most amazing features of cells is the way they behave in accord with the society they live in, rather than acting as individualistic beings. Cells behave in a way to make micro-societies possible. In cytology (study of cells), this feature is known as “contact inhibition” (i.e. maintenance of healthy and harmonious operation and development that is based on connection), and its damage may lead to cancer. Every cell is sensitively programmed to receive all signals, coming from inside and outside, and to manage the proper responses to them. Here, the question arises whether a lack or disorder of connection is caused by pathological conditions in cells or whether the emergence of pathological conditions is caused by connection problems. It is generally assumed that, molecular changes in the cell occur first (i.e. mutation) and then this mutation leads to abnormalities and connection problems at the levels of tissue, organ, and even organism. Damage to communication or connection and disorders in this system are a very important reason for the appearance of some pathological conditions (such as an abnormal increase of cells, cancer and death). Thus, diagnosis and treatment of many diseases today depends on knowledge of how biological communication and connection are harmoniously established.

Cells are designed to control their behavior through special signal molecules that can themselves function as stimulatory. For instance, using signal molecules, cells can establish colonies or biofilms. Moreover, plant cells, through channels known as plasmodesmata, maintain their connection with neighboring cells and trade certain materials. In the state of illness, the density (among cells) of signal molecules that are transferred in the plasmodesmata changes.

Hormones, reproduction factors and neurotransmitters are charged with ensuring transportation and communication at different levels. Cell and tissue elasticity and their adaptability are increased by this diversity in signal operations. Different ways are used to transmit signals into the cell depending upon the characteristics of the signals. For example, hydrophobic (water-avoiding) molecules like steroid hormone pass directly through the cell membrane and connect to their receptors in the cell. The receptors that are responsible for decoding genes stimulate the decoding of related genes. If a problem (mutation) occurs in the molecules that are responsible for transportation and communication, the transportation and communication breaks down and the cancer process is triggered. The existence of continuously reproducing cells in inappropriate times and places is an important symptom of cancer initiation. For example, in colon and rectum cancer, if a mutation occurs on the Ras protein, which is one of the signal proteins that takes the “Reproduce!” message from the cell membrane the cutting off of the GTP molecule, which is responsible for turning the signal molecule on and off, is blocked, and since the molecule stays permanently active a signal like “Reproduce!” is permanently sent inside the cell. Thus, the benefits of the medicines that are used in cancer treatment and that show their effects by hindering signals on the cell membrane level are observed in the non-existence of this mutation on Ras proteins. If the mutation happens the medicines mentioned above cannot be effective. Today, the presence of the mutation can be determined by a biopsy taken from the patient, thus, it has become possible to choose the type of therapy that will be most helpful to that person.

Communication inside the cell can be carried out through ion channels (such as sodium, potassium, and calcium). These channels in membrane behave selectively for every different ion. For example, while voltage-gated channels open and close according to electric charge ligand, (key)-gated (receptor) channels let ions transfer when ligands are tied up. Sodium and potassium ions and the molecular channels that these two passes are responsible for organizing the changes that effect the communication of nerves in the membrane potential. The calcium channel, on the other hand, plays an important role in muscle contraction, and biological incidents like the formation and deformation of bone.

In recent years, the proteins (matrix) that fill the vacancies among cells have been shown to be the main actor in the general control of communication between cells and in the integration of signals coming from their surroundings by hundreds of proofs. It has been pointed out that CCN proteins, which are one of the adaptors, as well as proteins with multiple modules that are responsible for the connection between cell membranes and matrix proteins have a regulatory role at different levels in the control of signal transfers in ion channels, cell differentiation, adherence of cells to each other, cell collapse, programmed cell-death, cartilage formation and the synthesis of new veins. The multi-dimensional and dynamic communication and connections mentioned above related to cells also apply to people. When individuals develop a healthy connection between their inner world and other people, a healthy society emerges. Every individual is granted these potential connection points, which make the existence of an individual possible. The development of a healthy person depends upon activating these connections, organizing them dynamically and keeping them active.

If we place human beings at the center of creation, the first connection that the individuals should make between their Creator and their ego (nafs) is called worship. The ego is both a help and a hindrance to the construction of this connection. The second connection, which is between individuals and their friends, is ensured by good morals, good conduct, and personal virtue. The construction of a healthy social life depends on how many people have good morals, good conduct and virtuous character in a society. If virtue is not accompanied by knowledge, it is highly unlikely that knowledge will raise an individual to a standard of human perfection.

The third essential, the individual’s healthy connection with their surroundings is established through the “ecological dimension of ego,” which is sensitive to the external world. It is very difficult for people whose dimension of ego, which is sensitive to ecological problems and the environment, has not developed to keep the environment clean and take precautions against pollution. The fourth connection that individuals should establish is the connection with their internal world (heart-consciousness, transcendental ego, real self). “O Man! Know yourself first!” and, “The one that knows himself knows his God,” are expressions pointing out the importance of this connection.

For individuals, groups, and societies to have a healthy life as well as to maintain their health at all levels depends on activating these four connections, in other words, establishing coordination and harmony among them and then maintaining this state. When one ignores one of the connections or some of them, or when the coordination between these connections is defective, troubles and illnesses at various levels emerge. Hence, the links that a healthy individual establishes may include those in civil society organizations, and through these further networked and reciprocal communications. Like our cells, which maintain their connection with their environment and neighboring cells via the “contact inhibition” mechanism so that we feel healthy, for people to become healthy at personal and societal level, individuals should actively join civil society organizations and service-centered communities that can enable activation of these four connections and ensure harmony and coordination among them. The Islamic scholar, Bediüzzaman Said Nursi paid special attention to connection in the letters he wrote to his students (the Kastamonu letters) and highlighted it as a point of progress that should be reached:

Since, in today’s world, saving people’s belief for the sake of God is a very important mission that is above everything; since quantity is not very significant compared to quality; since transient and changing political worlds are trivial compared to everlasting, constant, stable services in the name of God-they should not be even compared; they can never be objectives; therefore, we should be satisfied with valuable positions that are granted in the circle of Risale-i Nur. Instead of having extremely well-thoughts about other people or seeing them at high positions superfluously, we need to have extreme loyalty and steadfastness, and utmost connection and sincerity. We should have progress on these points.

Hamza Aydin has a PhD in bio-medicine. He is a freelance writer from Izmir, Turkey.

Radar, a contraction of the words radio detection and ranging, is an electronic device for detecting and locating objects. It operates by transmitting a particular waveform pattern and detects the nature of the echo (return) signal.1 Radar is used to extend the capability of the man’s senses, especially that of vision. We can think of radar as being a substitute for the eye, although it can do so much more: it can see objects through such impervious conditions as darkness, haze, fog, rain, and snow, for its wavelengths are much longer than those of visible or infrared light. The human eye works as a passive device, since the object is illuminated by sunlight or other light sources. However, radar produces its own illumination via electromagnetic waves, which means that it is an active device. 

APPLICATIONS OF RADAR AND RADAR IMAGING

Radar is used in civilian applications as air-traffic-control radar to guide aircraft to a safe landing, and in commercial aircraft as radar altimeters to determine height and weather avoidance, as well as wind-shear radars to navigate in severe weather conditions.

The military uses radar for surveillance and weapons control. Examples of such radars are DEW (Distant Early Warning) and AEW (Airborne Early Warning), which detect aircraft, long-range search radars, and guided missile radars.2

Research scientists use radar as a measurement tool. Radars have been placed on satellites, space modules, and shuttles to explore meteors, planets, and other objects in the solar system.

In the case of an imaging radar, the radar travels along an airplane’s or a space shuttle’s flight path. The area underneath is illuminated by the radar, and the radar architecture builds the image as it moves on the top of its footprint (Fig.1). The radar image’s finer resolution is achieved by using a very long antenna array to focus transmitted and received energy into a sharp beam.2 The beam’s sharpness defines the resolution. Similarly, such optical systems as telescopes require large apertures (mirrors or lenses that are analogous to the radar antenna) to obtain fine imaging resolution. Synthetic Aperture Radar (SAR) is a common and very popular technique in radar imaging that achieves a very fine resolution.3 In the following sections, we introduce and explain different types of SAR imaging techniques.

SYNTHETIC APERTURE RADAR (SAR)

SAR refers to a technique that synthesizes a very long antenna by combining echoes received by the radar when it travels.4.5 Typically, SAR is used to produce a two-dimensional (2-D) image. One dimension in the image is called range (or along track), and is a measure of the “line-of-sight” distance from the radar to the target (Fig.l). Range is determined by precisely measuring the time from a pulse’s transmission to receiving the echo from target. The range resolution is determined by the transmitted pulse’s width (i.e., narrow pulses yield fine range resolution).

The other dimension is called azimuth (or cross track), and is perpendicular to range. Usually, the length of the radar antenna determines azimuth resolution. However, a good azimuth resolution requires a radar antenna that is not practically carried by an airborne platform, for imaging radars are much lower in frequency (1 to 10 GHz) than optical systems (4,000 to 8,000 GHz). The length of the required antenna could be around several hundred meters, which obviously cannot be carried by an air vehicle.

However, SAR differs from other radars in that it collects data along the flight path when it travels, instead of using a large antenna. Therefore, a very small antenna is adequate for the job. After collecting the data, it processes this aperture data as if it came from a physically long antenna. The distance the aircraft flies in synthesizing the antenna is known as the synthetic aperture. A narrow synthetic beamwidth results from the relatively long synthetic aperture, which yields finer resolution than what is possible from a smaller physical antenna.

SARs are not as simple as described above. Transmitting short pulses to provide range resolution is generally not practical. Typically, longer pulses with wide-bandwidth modulation are transmitted, which complicates range processing but decreases peak power requirements on the transmitter. For even moderate azimuth resolutions, a target’s range to each location on the synthetic aperture changes along the synthetic aperture. The energy reflected from the target must be “mathematically focused” to compensate for the range dependence across the aperture prior to image formation. Additionally, for fine-resolution systems, range and azimuth processing is coupled (dependent on each other), which greatly increases computational processing. The trick in SAR processing is to correctly match the variation in frequency due to motion (moving target or moving radar) for each point in the image.

An example of SAR imaging is shown in Fig. 2. The colors in the image reflect the received signal intensity. The strongest signal level is red, whereas the weakest is black. The figure is a SAR image of San Francisco, California, obtained by the Spaceborne Imaging Radar-C/X-band Synthetic Aperture (SIR-C/X-SAR) imaging radar when it flew aboard the space shuttle Endeavour on October 3, 1994. The size of the image is about 26 miles by 36 miles. The center of the area is 37.83 degrees north latitude, 122.38 degrees east longitude.

This particular SAR image is a good illustration of how SAR distinguishes urban areas from nearby relatively less populated areas. Such densely populated regions as downtown San Francisco (center) and the city of Oakland (at the right across the San Francisco Bay) show up as red images due to the alignment of streets and buildings vis A vis the incoming radar beam. The bridges in the area are easily detected by the imaging radar, including the Golden Gate Bridge (left center) at the opening of San Francisco Bay, the Bay Bridge (right center), and the San Mateo Bridge (bottom center). All dark regions on the image represent smooth water. Radar also easily detects the major faults in the area: those bounding the San Francisco-Oakland urban areas and the San Andreas Fault (at the lower left), As seen from the image, faults are shown as dark straight lines in the SAR image.

INCERSE SAR (ISAR)

While SAR images a region of the Earth from an airplane or an air shuttle, Inverse SAR (ISAR) images a flying object, such as airplane or an asteroid, from land-based radar. ISAR is very popular, and also very critical in military applications.6 It is commonly used for identification purposes. In a possible war scenario where there are too many aircraft in the sky, it is almost impossible to guess which one is friendly or hostile. In that case, ISAR imaging technique is used to identify the approaching aircraft and classify it from a collection of possible targets.

In theory, ISAR is an imaging technique that maps the locations of dominant scattering points of a target based on the multi-frequency, multi-aspect, backscattered data.7 In this data, the signal’s amplitude reflects the magnitude information of the scattering points on the target, while the backscattered signal’s phase is related to the location information of the scattering point off the target. After collecting this 2-D raw data, several signal-processing tools extract from this data the amplitude and location information of the scattering centers. Then, a 2-D image of the target is constructed by using a convenient image processing technique.

An example of ISAR imagery is shown in Fig. 3. The model of the test airplane (C-29 model) is shown at the lower portion, while a 2-D ISAR image of the airplane is constructed at the upper portion of Fig.3. The measurement is taken at the center frequency of 10 GHz, where the frequency bandwidth is 16 GHz. The data is collected from 0.10 steps to cover the entire 3600 azimuth. At the end, a 2048 by 2048 2-D grid is constructed by using the ISAR algorithm. By comparing both, it is seen that ISAR imaging provides accurate target information. By looking at this image, it is very easy to identify and classify the aircraft.

ISAR is an active operation of the radar at the target’s far field. Both receiving and transmitting antennas must be far away from the target. Recently, new ISAR imaging techniques that allow passive radar operation have been discovered. Antenna SAR (ASAR) and Antenna Coupling (ACSAR) imaging techniques use direct radiation from an antenna mounted on the near field of an airplane or a ship to image the dominant radiation points off these platforms. In these cases, the radar functions only as a receiver, for the target’s own antenna provides illumination to the target. These techniques are mainly used to determine the dominant radiation points off the target to explore ways to cancel or mitigate undesired extra radiation from the target’s platform.

The development of fast computers during the 1980s allowed researchers to apply intensive computational electromagnetic (CEM) tools that ultimately led them to develop new SAR/ISAR algorithms. One of the most appreciated and widely used tool is Interferometric Synthetic Aperture Radar (INSAR) imaging, which allows the extraction of height information that can be used to render 3-D topographic views of a SAR scene.

INTERFEROMETRIC SAR (INSAR)

Radar interferometry involves coherently combining radar measurements made by two or more radar antennas displaced by a relatively small distance.8 Depending on the relative geometry of the two antennas, the combined measurements can be turned into measurements of surface topography, topographic change, or displacement over time. Mapping precision of around 2m in three dimensions over a wide area is now possible from airborne interferometric radars.

Here is how an INSAR works: A radar system launches electromagnetic energy to scan the ground terrain to be imaged. Two radar antennas collect the backscattered wave to obtain two different snapshots of SAR image. To avoid phase ambiguity, these antennas must be close enough to each other. Since the waves travel different distances from a particular scatterer to each antenna, the resultant phases of each SAR image is different. In the next step, an image called interferogram is formed by multiplying one SAR image by the complex conjugate of the other SAR image. The phase of the interferogram represents the differences in range to the scattering centers of each pixel in the image. These differences are caused by the terrain’s topography. Then, a signal-processing algorithm converts this phase information to extract the terrain’s topographic features. Finally, a 3-D INSAR image of the region is formed by combining the SAR images with the height information.

An example of INSAR imaging is illustrated in Fig.4, which depicts the Long Valley of east central California. The images were taken by the Spaceborne Imaging Radar-C/X-band Synthetic Aperture Radar (SIR-C/X-SAR) aboard the space shuttle Endeavour during its two flights in April and October 1994. The four images show the steps necessary to produce 3-D data from radar interferometry. The image covers an area of 21 by 37 miles. The radar illumination is from the top of the image. The bright areas are hilly regions of big rocks and pine forest; the darker areas are the relatively smooth, sparsely vegetated valley floors. The curving ridge running across the image’s center from top to bottom is the northeast rim of the Long Valley caldera, a remnant crater from a massive volcanic eruption roughly 750,000 years ago.

The image in the upper right is an interferogram of the same region, constructed by combining data from the April and October flights. The different phases are shown as different color levels. These variations are caused by elevation differences in the area. The same color levels indicate that those regions have same altitudes. The image in the lower left shows a topographic map derived from the interferometric data. The black bold contour lines represent levels of elevation. In this particular image, elevation levels are spaced at 250-meter intervals. The last image is a 3-D view of the northeast rim of the caldera, looking toward the northwest. As can be seen from the image, it is possible to extract such geologic structural and landform features as elevation, vegetation, and soil type with the help of INSAR processing.

Another example of INSAR imaging is shown in Fig. 5, which depicts the Washington, DC, Mall area. A similar approach is used to form this 3-D image. The region starts from the Capitol building (top) to the Lincoln Memorial and the Arlington Memorial Bridge (toward the right bottom). The Washington Monument is very easy to observe at the center of the image. The bright areas (from white to yellow) represent higher elevation places; darker colors (from green to dark blue) represent the areas of lower elevation. The Potomac river (right bottom of the image) and the reflecting pool (from the Lincoln Memorial toward the Washington Monument) are all in dark blue because of the water and the lowest elevations. We can also clearly distinguish Constitution Avenue running from bottom to top. The green regions are intermediate elevation consisting mostly of vegetation. As seen from the image, the highest elevation is the top of the Washington Monument, the Library of Congress building, and the Capitol building.

CONCLUSION

In this paper, we presented a survey study of radar basics and radar imagery. It is obvious that radar has been a very important and useful tool throughout the 20th century, both in the military and industry. With developments in the computer era and new imaging algorithms, it looks like it will be a very critical tool in the 21st century as well. It is now possible to simulate very complex models and targets in a reasonable computation time in radar frequencies thanks to new developments in computational electromagnetics methods (CEM). Examples of those are Xpatch9 (a high frequency code that can predict the scattering from large, complex bodies) and FISC10 (a fast simulator of electromagnetic bodies at high frequencies). While computers continue to grow faster and faster, new electromagnetic simulators are also getting faster and more efficient. As a result, more compact, fancier, faster, and more accurate radar-imaging techniques are being developed.

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