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At least 181 records · Page 10

Hubble Space Telescope Fine Guidance Sensor and Two-Gyro Control Law Design, Implementation, and On-Orbit Performance

For fifteen years, the science mission of the Hubble Space Telescope (HST) required using at least three rate gyros for n Controlling with alternate sensors to replace failing gyros can extend the HST science mission. A two-gyro control law has been designed and implemented using magnetometers, star trackers, and Fine Guidance Sensors (FGSs) to control vehicle rate about the missing gyro axis. The three aforementioned sensors are used in succession to reduce HST boresight jitter to less than 7 milli-arcseconds rms prior to science imaging. The Magnetometer and 2-Gyro (M2G) control law is used for large angle maneuvers and attitude control during earth. occultation of star trackers and FGSs. The Tracker and 2-Gyro (T2G) control law dampens M2G rates and controls attitude in preparation for guide star acquisition with the FGSs. The Fine Guidance Sensor and 2-Gyro (F2G) control law dampens T2G rates and controls HST attitude during science imaging. This paper describes the F2G control law. Details of F2G algorithms are presented, including computation of the FGS-measured star vector using non-linear equations, optimal estimation of HST body rate, design of the F2G control laws and gyro bias observer, SISO and MIMO linear stability analyses, and design of the F2G intramode transition and guide star acquisition logic. Results from an FGS flight spare ground test are presented that define acceptable HST jitter levels for successful guide star acquisition under two-gyro control. HST-specific disturbance and noise models are described that are based upon flight telemetry; these models are used in HSTSIM, a high-fidelity non-linear time domain simulation, to predict HST on-orbit disturbance responses and FGS interferometer Loss of Lock (LOL) characteristics under F2G control. Additional HSTSIM results are presented predicting HST quiescent boresight jitter performance, science maneuver performance, and observer configuration performance during F2G operation. Simulation results are compared to on-orbit data b m F2G flight tests performed in February 2005. Science images and point spread functions from the Advanced Camera for Surveys (ACS) High Resolution Camera (HRC) are presented that compare HST science performance under F2G versus three-gyro control. Images and flight telemetry show that HST boresight jitter with the new F2G control law is usually less than jitter using the three-gyro law, and HST boresight jitter during F2G operation is dependent upon guide star magnitude.

Clapp, Brian R.↗

The TRMM Multi-satellite Precipitation Analysis (TMPA): Quasi-Global Precipitation Estimates at Fine Scales

The TRMM Multi-satellite Precipitation Analysis (TMPA) provides a calibration-based sequential scheme for combining multiple precipitation estimates from satellites, as well as gauge analyses where feasible, at fine scales (0.25 degrees x 0.25 degrees and 3-hourly). It is available both after and in real time, based on calibration by the TRMM Combined Instrument and TRMM Microwave Imager precipitation products, respectively. Only the after-real-time product incorporates gauge data at the present. The data set covers the latitude band 50 degrees N-S for the period 1998 to the delayed present. Early validation results are as follows: The TMPA provides reasonable performance at monthly scales, although it is shown to have precipitation rate dependent low bias due to lack of sensitivity to low precipitation rates in one of the input products (based on AMSU-B). At finer scales the TMPA is successful at approximately reproducing the surface-observation-based histogram of precipitation, as well as reasonably detecting large daily events. The TMPA, however, has lower skill in correctly specifying moderate and light event amounts on short time intervals, in common with other fine-scale estimators. Examples are provided of a flood event and diurnal cycle determination.

Huffman, George J.↗

Pulsed high energy synthesis of fine metal powders

Repetitively pulsed plasma jets generated by a capillary arc discharge at high stagnation pressure (>15,000 psi) and high temperature (>10,000 K) are utilized to produce 0.1-10 .mu.m sized metal powders and decrease cost of production. The plasma jets impact and atomize melt materials to form the fine powders. The melt can originate from a conventional melt stream or from a pulsed arc between two electrodes. Gas streams used in conventional gas atomization are replaced with much higher momentum flux plasma jets. Delivering strong incident shocks aids in primary disintegration of the molten material. A series of short duration, high pressure plasma pulses fragment the molten material. The pulses introduce sharp velocity gradients in the molten material which disintegrates into fine particles. The plasma pulses have peak pressures of approximately one kilobar. The high pressures improve the efficiency of disintegration. High gas flow velocities and pressures are achieved without reduction in gas density. Repetitively pulsed plasma jets will produce powders with lower mean size and narrower size distribution than conventional atomization techniques.

Witherspoon, F. Douglas↗

Fine Aerosol Bulk Composition Measured on WP-3D Research Aircraft in Vicinity of the Northeastern United States - Results from NEAQS

During the New England Air Quality Study (NEAQS) in the summer of 2004, airborne measurements were made of the major inorganic ions and the water-soluble organic carbon (WSOC) of the submicron (PM(sub 1.0)) aerosol. These and ancillary data are used to describe the overall aerosol chemical characteristics encountered during the study. Fine particle mass was estimated from particle volume and a calculated density based on measured particle composition. Fine particle organic matter (OM) was estimated from WSOC and a mass balance analysis. The aerosol over the northeastern United States (U.S.) and Canada was predominantly sulfate and associated ammonium, and organic components, although in unique plumes additional ionic components were also periodically above detection limits. In power generation regions, and especially in the Ohio River Valley region, the aerosol tended to be predominantly sulfate (approximately 60% micro gram /micro gram) and apparently acidic, based on an excess of measured anions compared to cations. In all other regions where sulfate concentrations were lower and a smaller fraction of overall mass, the cations and anions were balanced suggesting a more neutral aerosol. In contrast, the WSOC and estimated OM were more spatially uniform and the fraction of OM relative to PM mass was largely influenced by sources of sulfate. The study median OM mass fraction was 40%. Throughout the study region, sulfate and organic aerosol mass were highest near the surface and decreased rapidly with increasing altitude. The relative fraction of organic mass to sulfate was similar throughout all altitudes within the boundary layer (altitude less than 2.5 km), but was significantly higher at altitude layers in the free troposphere (above 2.5 km). A number of distinct biomass burning plumes from fires in Alaska and the Yukon were periodically intercepted, mostly at altitudes between 3 and 4 km. These plumes were associated with highest aerosol concentrations of the study and were largely comprised of organic aerosol components (approximtely 60%).

Peltier, R. E.↗

The Effects of Instrumental Elliptical Polarization on Stellar Point Spread Function Fine Structure

We present procedures and preliminary results from a study on the effects of instrumental polarization on the fine structure of the stellar point spread function (PSF). These effects are important to understand because the the aberration caused by instrumental polarization on an otherwise diffraction-limited will likely have have severe consequences for extreme high contrast imaging systems such as NASA's planned Terrestrial Planet Finder (TPF) mission and the proposed NASA Eclipse mission. The report here, describing our efforts to examine these effects, includes two parts: 1) a numerical analysis of the effect of metallic reflection, with some polarization-specific retardation, on a spherical wavefront; 2) an experimental approach for observing this effect, along with some preliminary laboratory results. While the experimental phase of this study requires more fine-tuning to produce meaningful results, the numerical analysis indicates that the inclusion of polarization-specific phase effects (retardation) results in a point spread function (PSF) aberration more severe than the amplitude (reflectivity) effects previously recorded in the literature.

high angular resolution↗

Charge-Spot Model for Electrostatic Forces in Simulation of Fine Particulates

The charge-spot technique for modeling the static electric forces acting between charged fine particles entails treating electric charges on individual particles as small sets of discrete point charges, located near their surfaces. This is in contrast to existing models, which assume a single charge per particle. The charge-spot technique more accurately describes the forces, torques, and moments that act on triboelectrically charged particles, especially image-charge forces acting near conducting surfaces. The discrete element method (DEM) simulation uses a truncation range to limit the number of near-neighbor charge spots via a shifted and truncated potential Coulomb interaction. The model can be readily adapted to account for induced dipoles in uncharged particles (and thus dielectrophoretic forces) by allowing two charge spots of opposite signs to be created in response to an external electric field. To account for virtual overlap during contacts, the model can be set to automatically scale down the effective charge in proportion to the amount of virtual overlap of the charge spots. This can be accomplished by mimicking the behavior of two real overlapping spherical charge clouds, or with other approximate forms. The charge-spot method much more closely resembles real non-uniform surface charge distributions that result from tribocharging than simpler approaches, which just assign a single total charge to a particle. With the charge-spot model, a single particle may have a zero net charge, but still have both positive and negative charge spots, which could produce substantial forces on the particle when it is close to other charges, when it is in an external electric field, or when near a conducting surface. Since the charge-spot model can contain any number of charges per particle, can be used with only one or two charge spots per particle for simulating charging from solar wind bombardment, or with several charge spots for simulating triboelectric charging. Adhesive image-charge forces acting on charged particles touching conducting surfaces can be up to 50 times stronger if the charge is located in discrete spots on the particle surface instead of being distributed uniformly over the surface of the particle, as is assumed by most other models. Besides being useful in modeling particulates in space and distant objects, this modeling technique is useful for electrophotography (used in copiers) and in simulating the effects of static charge in the pulmonary delivery of fine dry powders.

Walton, Otis R.↗

A Bi-Modal Distribution of ALHA77307 Matrix Olivine: Evidence for Fine-Grained Mixing from Multiple Reservoirs in the CO Formation Zone

The CO 3.0 chondrite ALHA77307 is thought to be the least metamorphosed of all the CO chondrites [1]. As such, the fine-grained (<30 m) olivine found in its matrix is a valuable resource for investigating the CO formation environment since its compositions should be primary. In the CO matrix, we indeed find a wide range of major element compositions (Fa(0.5-71)). However, more importantly, we find that the olivines make up two compositionally distinct populations (Fa(0.5-5) and Fa(21-71)). Grains from both populations are found within an extremely close proximity and we see no obvious evidence of two distinct lithologies within our samples. Therefore, we conclude that the olivine grains found in the ALHA77307 matrix must have crystallized within two unique formation conditions and were later mixed at a very fine scale during the accretion epoch. Here, we propose a possible explanation based on Cr and Mn concentrations in the olivine.

Frank, D.↗

Development of the International Space Station (ISS) Fine Water Mist (FWM) Portable Fire Extinguisher ICES Abstract

NASA is developing a Fine Water Mist (FWM) Portable Fire Extinguisher (PFE) for use on the International Space Station. The International Space Station presently uses two different types of fire extinguishers: a water foam extinguisher in the Russian Segment, and a carbon dioxide extinguisher in the US Segment and Columbus and Kibo pressurized elements. Changes in emergency breathing equipment make Fine Water Mist operationally preferable. Supplied oxygen breathing systems allow for safe discharge of a carbon dioxide fire extinguisher, without concerns of the crew inhaling unsafe levels of carbon dioxide. But the Portable Breathing Apparatus (PBA) offers no more than 15 minutes of capability, and continued use of hose based supplied oxygen system increases the oxygen content in a fire situation. NASA has developed a filtering respirator cartridge for use in a fire environment. It is qualified to provide up to 90 minutes of capability, and because it is a filtering respirator it does not add oxygen to the environment. The fire response respirator cartridge does not filter carbon dioxide (CO2), so a crew member discharging a CO2 fire extinguisher while wearing this filtering respirator would be at risk of inhaling unsafe levels of CO2. FWM extinguishes a fire without creating a large volume of air with reduced oxygen and elevated CO2. The following paper will discuss the unique functional and performance requirements that have been levied on the FWM PFE. In addition, the NASA ISS specific fire standards will be described which were developed to establish acceptable extinguisher performance. The paper will also discuss the flight hardware design. The fin e water mist fire extinguisher has two major elements: (1) the nozzle and crew interface, and (2) the tank. The nozzle and crew interface have been under development for several years. They have gone through several design iterations, and have been part of more than 400 fire challenge and spray characterizations. The crew and vehicle interface aspects of the design will use the heritage of the CO2 based Portable Fire Extinguisher, to minimize the disruption to the crew and integration impacts to the ISS. The microgravity use environment of the system poses a set of unique design requirements specifically for the tank. The nozzle requirements drive a tank pressure that is 2-5 times higher than any commercially available water mist systems. Microgravity requires deliberate separation of gas and water, facilitated by a bladder, a diaphragm, a piston, or separate tanks. This paper will describe status of the project to date, the design details of the tank and the nozzle, and discuss the trade studies that informed the decisions to select the tank and nozzle configuration.

Clements, Anna L.↗

Solar Cycle Fine Structure and Surface Rotation from Ca II K-Line Time Series Data

Analysis of three and a half decades of data from the NSO/AFRL/Sac Peak K-line monitoring program yields evidence for four components to the variation: (a) the solar cycle, with considerable fine structure and a quasi-periodicity of 122.4 days; (b) a stochastic process, faster than (a) and largely independent of it, (c) a quasi-periodic signal due to rotational modulation, and of course (d) observational errors (shown to be quite small). Correlation and power spectrum analyses elucidate periodic and aperiodic variation of these chromospheric parameters. Time-frequency analysis is especially useful for extracting information about differential rotation, and in particular elucidates the connection between its behavior and fine structure of the solar cycle on approximately one-year time scales. These results further suggest that similar analyses will be useful at detecting and characterizing differential rotation in stars from stellar light-curves such as those being produced at NASA's Kepler observatory.

Scargle, Jeff↗

Hydrogen Isotopic Composition of Water in the Martian Atmosphere and Released from Rocknest Fines

The Mars Science Laboratory Curiosity rover sampled the aeolian bedform called Rocknest as its first solid samples to be analyzed by the analytical instruments CheMin and SAM. The instruments ingested aliquots from a sieved sample of less than 150 micrometer grains. As discussed in other reports at this conference [e.g., 1], CheMin discovered many crystalline phases, almost all of which are igneous minerals, plus some 10s of percent of x-ray amorphous material. The SAM instrument is focused on understanding volatiles and possible organics in the fines, performing evolved gas analysis (EGA) with the SAM quadrapole mass spectrometer (QMS), isotope measurements using both the QMS and the tunable laser spectrometer (TLS), which is sensitive to CO2, water and methane, and organics with the gas chromatograph mass spectrometer (GCMS). As discussed in the abstract by Franz et al. [2] and others, EGA of Rocknest fines revealed the presence of significant amounts of H2O as well as O-, C- and S-bearing materials. SAM has also tasted the martian atmosphere several times, analyzing the volatiles in both the TLS and QMS [e.g., 3,4]. This abstract will focus on presentation of initial hydrogen isotopic data from the TLS for Rocknest soils and the atmosphere, and their interpretation. Data for CO2 isotopes and O isotopes in water are still being reduced, but should be available by at the conference.

Leshin, L. A.↗

CRUQS: A Miniature Fine Sun Sensor for Nanosatellites

A new miniature fine Sun sensor has been developed that uses a quadrant photodiode and housing to determine the Sun vector. Its size, mass, and power make it especially suited to small satellite applications, especially nanosatellites. Its accuracy is on the order of one arcminute, and it will enable new science in the area of nanosatellites. The motivation for this innovation was the need for high-performance Sun sensors in the nanosatellite category. The design idea comes out of the LISS (Lockheed Intermediate Sun Sensor) used by the sounding rocket program on their solar pointing ACS (Attitude Control System). This system uses photodiodes and a wall between them. The shadow cast by the Sun is used to determine the Sun angle. The new sensor takes this concept and miniaturizes it. A cruciform shaped housing and a surface-mount quadrant photodiode package allow for a two-axis fine Sun sensor to be packaged into a space approx.1.25xl x0.25 in. (approx.3.2x2.5x0.6 cm). The circuitry to read the photodiodes is a simple trans-impedance operational amplifier. This is much less complex than current small Sun sensors for nanosatellites that rely on photo-arrays and processing of images to determine the Sun center. The simplicity of the circuit allows for a low power draw as well. The sensor consists of housing with a cruciform machined in it. The cruciform walls are 0.5-mm thick and the center of the cruciform is situated over the center of the quadrant photodiode sensor. This allows for shadows to be cast on each of the four photodiodes based on the angle of the Sun. A simple operational amplifier circuit is used to read the output of the photodiodes as a voltage. The voltage output of each photodiode is summed based on rows and columns, and then the values of both rows or both columns are differenced and divided by the sum of the voltages for all four photodiodes. The value of both difference over sums for the rows and columns is compared to a table or a polynomial fit (depending on processor power and accuracy requirements) to determine the angle of the Sun in the sensor frame.

Heatwole, Scott↗

Primitive Fine-Grained Matrix in the Unequilbrated Enstatite Chondrites

Enstatite chondrites (EC) have important implications for constraining conditions in the early solar system and for understanding the evolution of the Earth and other inner planets. They are among the most reduced solar system materials as reflected in their mineral compositions and assemblage. They are the only chondrites with oxygen as well as Cr, Ti, Ni and Zn stable isotope compositions similar to the earth and moon and most are completely dry, lacking any evidence of hydrous alteration; the only exception are EC clasts in the Kaidun breccia which have hydrous minerals. Thus, ECs likely formed within the snow line and are good candidates to be building blocks of the inner planets. Our goals are to provide a more detailed characterization the fine-grained matrix in E3 chondrites, understand its origin and relationship to chondrules, decipher the relationship between EH and EL chondrites and compare E3 matrix to matrices in C and O chondrites as well as other fine-grained solar system materials. Is E3 matrix the dust remaining from chondrule formation or a product of parent body processing or both?

Weisberg, M. K.↗

Update on the Chemical Composition Of Crystalline, Smectite, and Amorphous Components for Rocknest Soil and John Klein and Cumberland Mudstone Drill Fines at Gale Crater, Mars

We have previously calculated the chemical compositions of the X-ray-diffraction (XRD) amorphous component of three solid samples (Rocknest (RN) soil, John Klein (JK) drill fines, and Cumberland (CB) drill fines) using major-element chemistry (APXS), volatile-element chemistry (SAM), and crystalline- phase mineralogy (CheMin) obtained by the Curiosity rover as a part of the ongoing Mars Science Laboratory mission in Gale Crater. According to CheMin analysis, the RN and the JK and CB samples are mineralogically distinct in that RN has no detectable clay minerals and both JK and CB have significant concentrations of high-Fe saponite. The chemical composition of the XRD amorphous component is the composition remaining after mathematical removal of the compositions of crystalline components, including phyllosilicates if present. Subsequent to, we have improved the unit cell parameters for Fe-forsterite, augite, and pigeonite, resulting in revised chemical compositions for the XRD-derived crystalline component (excluding clay minerals). We update here the calculated compositions of amorphous components using these revised mineral compositions.

Morris, R. V.↗

Fine-Filament MgB2 Superconductor Wire

Hyper Tech Research, Inc., has developed fine-filament magnesium diboride (MgB2) superconductor wire for motors and generators used in turboelectric aircraft propulsion systems. In Phase I of the project, Hyper Tech demonstrated that MgB2 multifilament wires (<10 micrometers) could reduce alternating current (AC) losses that occur due to hysteresis, eddy currents, and coupling losses. The company refined a manufacturing method that incorporates a magnesium-infiltration process and provides a tenfold enhancement in critical current density over wire made by a conventional method involving magnesium-boron powder mixtures. Hyper Tech also improved its wire-drawing capability to fabricate fine multifilament strands. In Phase II, the company developed, manufactured, and tested the wire for superconductor and engineering current density and AC losses. Hyper Tech also fabricated MgB2 rotor coil packs for a superconducting generator. The ultimate goal is to enable low-cost, round, lightweight, low-AC-loss superconductors for motor and generator stator coils operating at 25 K in next-generation turboelectric aircraft propulsion systems.

Cantu, Sherrie↗

Estimation of Daily PM(sub 10) Concentrations in Italy (2006-2012) Using Finely Resolved Satellite Data, Land Use Variables and Meteorology

Health effects of air pollution, especially particulate matter (PM), have been widely investigated. However, most of the studies rely on few monitors located in urban areas for short-term assessments, or land use/dispersion modelling for long-term evaluations, again mostly in cities. Recently, the availability of finely resolved satellite data provides an opportunity to estimate daily concentrations of air pollutants over wide spatio-temporal domains. Italy lacks a robust and validated high resolution spatio-temporally resolved model of particulate matter. The complex topography and the air mixture from both natural and anthropogenic sources are great challenges difficult to be addressed. We combined finely resolved data on Aerosol Optical Depth (AOD) from the Multi-Angle Implementation of Atmospheric Correction (MAIAC) algorithm, ground-level PM10measurements, land-use variables and meteorological parameters into a four-stage mixed model framework to derive estimates of daily PM10concentrations at 1-km2 grid over Italy, for the years 2006-2012. We checked performance of our models by applying 10-fold cross-validation (CV) for each year. Our models displayed good fitting, with mean CV-R2=0.65 and little bias (average slope of predicted VS observed PM10=0.99). Out-of-sample predictions were more accurate in Northern Italy (Po valley) and large conurbations (e.g. Rome), for background monitoring stations, and in the winter season. Resulting concentration maps showed highest average PM10levels in specific areas (Po river valley, main industrial and metropolitan areas) with decreasing trends over time. Our daily predictions of PM10concentrations across the whole Italy will allow, for the first time, estimation of long-term and short-term effects of air pollution nationwide, even in areas lacking monitoring data. Copyright © 2016 Elsevier Ltd. All rights reserved.

Particulate Matter/analysis↗

Microstructural Record of Evolving Condensation Processes in Fine-Grained Ca-Al-Rich Inclusions from the Reduced CV3 Chondrites

Fine-grained, spinel-rich Ca-Al-rich inclusions (FGIs) in carbonaceous chondrites consist of numerous layered nodules having cores of spinel, hibonite, and/or perovskite surrounded by multiple thin layers of melilite, anorthite, diopside, and/or olivine. They are interpreted as aggregates of direct high-temperature condensates from an 16O-rich nebular gas that escaped significant melting. However, FGIs are very complex objects composed of intimate intergrowths of fine-grained refractory phases and show extremely large variations in mineralogy, modal abundance, and textures. Thus, detailed FIB/TEM analyses of FGIs are required to fully characterize their micro-to-nanometer scale textures, mineralogy, and chemical compositions and hence elucidate their formation processes and conditions in the early solar nebula. Here, we present our on-going study of pristine FGIs from the reduced CV3 chondrites Efremovka and Thiel Mountains (TIL) 07003 and 07007 that have minimal evidence for secondary parent body alteration.

Han, J.↗

Large-scale fine-resolution products of forest disturbance using new approaches from spaceborne SAT interferometry

Spaceborne SAR interferometry (InSAR) has the potential ofdetecting forest change on a global scale with fine (meter-level)spatial resolution as well as on a monthly/weekly basis under allweather conditions. This is significant to characterize the land usechange and its impact on climate change. In this paper, bothsingle-pass and repeat-pass SAR interferometry from spacebornesensors are combined in order to detect and quantify (withNormalized RMSE 30%) forest disturbance at a large scale(dozens of kilometers) however with a fine spatial resolution (<1 hectare) based on two newly developed approaches. The singlepassInSAR approach is not only able to detect forest disturbancebut also capable of characterizing meter (or even sub-meter)level change of forest phase-center (mean) height due to forestgrowth and/or degradation. The methodology described in thispaper can be considered as complimentary tools and thus can becombined with the existing PolInSAR technique (that has beenwidely used for retrieving forest height from single-pass SARinterferometry). These methods are extensively validated with thepast and current spaceborne single-pass and repeat-pass InSARmissions (i.e. JAXA’s ALOS-1, ALOS-2 and DLR’s TanDEM-X)over subtropical forests in Australia as well as tropical forestsin Brazil. Such techniques also serve as observing prototypes forthe fusion of the future spaceborne InSAR missions (such asNASA-ISRO’s NISAR and DLR’s TanDEM-L).

Schmidt, Michael↗

Mapping Yearly Fine Resolution Global Surface Ozone through the Bayesian Maximum Entropy Data Fusion of Observations and Model Output for 1990–2017

Estimates of ground-level ozone concentrations are necessary to determine the human health burden of ozone. To support the Global Burden of Disease Study, we produce yearly fine resolution global surface ozone estimates from 1990 to 2017 through a data fusion of observations and models. As ozone observations are sparse in many populated regions, we use a novel combination of the M3Fusion and Bayesian Maximum Entropy (BME) methods. With M3Fusion, we create a multi-model composite by bias-correcting and weighting nine global atmospheric chemistry models based on their ability to predict observations (8,834 sites globally)in each region and year. BME is then used to integrate observations, such that estimates match observations at each monitoring site with the observational influence decreasing smoothly across space and time until the output matches the multi-model composite. After estimating at 0.5° resolution using BME, we add fine spatial detail from an additional model, yielding estimates at 0.1° resolution. Observed ozone is predicted more accurately (R2=0.81 at test point, 0.63 at 0.1°,0.62 at 0.5°) than the multi-model mean (R2=0.28 at 0.5°). Global ozone exposure is estimated to be increasing, driven by highly populated regions of Asia and Africa, despite decreases in the United States and Russia.

environmental modeling↗