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A feedback linearization approach to spacecraft control using momentum exchange devices

Recent developments in the area of nonlinear control theory have shown how coordiante changes in the state and input spaces can be used with nonlinear feedback to transform certain nonlinear ordinary differential equations into equivalent linear equations. These feedback linearization techniques are applied to resolve two problems arising in the control of spacecraft equipped with control moment gyroscopes (CMGs). The first application involves the computation of rate commands for the gimbals that rotate the individual gyroscopes to produce commanded torques on the spacecraft. The second application is to the long-term management of stored momentum in the system of control moment gyroscopes using environmental torques acting on the vehicle. An approach to distributing control effort among a group of redundant actuators is described that uses feedback linearization techniques to parameterize sets of controls which influence a specified subsystem in a desired way. The approach is adapted for use in spacecraft control with double-gimballed gyroscopes to produce an algorithm that avoids problematic gimbal configurations by approximating sets of gimbal rates that drive CMG rotors into desirable configurations. The momentum management problem is stated as a trajectory optimization problem with a nonlinear dynamical constraint. Feedback linearization and collocation are used to transform this problem into an unconstrainted nonlinear program. The approach to trajectory optimization is fast and robust. A number of examples are presented showing applications to the proposed NASA space station.

Dzielski, John Edward

Differential Absorption Lidar (DIAL) Measurements from Air and Space

Differential absorption lidar (DIAL) systems have been used for the measurement of ozone, water vapor, and aerosols from aircraft platforms for over 18 years, yielding new insights into atmospheric chemistry, composition, and dynamics in large-scale field experiments conducted all over the world. The successful deployment of the lidar in-space technology experiment (LITE) in September 1994 demonstrated that space-based lidars can also collect valuable information on the global atmosphere. This paper reviews some of the contributions of the NASA Langley Research Center's airborne ozone and water vapor DIAL systems and space-based LITE system to the understanding of the atmosphere and discusses the feasibility and advantages of putting DIAL systems in space for routine atmospheric measurements of ozone and/or water vapor and aerosols and clouds. The technology and applications of the differential absorption lidar (DIAL) technique have progressed significantly since the first DIAL measurements of Schotland, and airborne DIAL measurements of ozone and water vapor are frequently being made in a wide range of field experiments. In addition, plans are underway to develop DIAL systems for use on satellites for continuous global measurements. This paper will highlight the history of airborne lidar and DIAL systems, summarize the major accomplishments of the NASA Langley DIAL program, and discuss specifications and goals for DIAL systems in space.

Browell, E. V.

X ray microscope/telescope test and alignment

The tasks performed by the Center for Applied Optics (CAO) in support of the Normal Incidence Multilayer X-Ray Optics Program are detailed. The Multi-Spectral Solar Telescope Array (MSSTA) was launched on a Terrier-boosted Black Brant sounding rocket from White Sands Missile Range on 13 May 1991. High resolution images of the sun in the soft x ray to extreme ultraviolet (EUV) regime were obtained with normal-incidence Cassegrain, Ritchey-Chretien, and Herschelian telescopes mounted in the sounding rocket. MSSTA represents the first use of multilayer optics to study a very broad range of x ray and EUV solar emissions. Energy-selective properties of multilayer-coated optics allow distinct groups of emission lines to be isolated in the solar corona and transition region. Features of the near and far coronal structures including magnetic loops of plasmas, coronal plumes, coronal holes, faint structures, and cool prominences are visible in these images. MSSTA successfully obtained unprecedented information regarding the structure and dynamics of the solar atmosphere in the temperature range of 10(exp 4)-10(exp 7) K. The performance of the MSSTA has demonstrated a unique combination of ultra-high spatial resolution and spectral differentiation by use of multilayer optics.

Walker, Arthur B. C.

UAVSAR: A New NASA Airborne SAR System for Science and Technology Research

NASA's Jet Propulsion Laboratory is currently building a reconfigurable, polarimetric L-band synthetic aperture radar (SAR), specifically designed to acquire airborne repeat track SAR data for differential interferometric measurements. Differentian interferometry can provide key deformation measurements, important for studies of earthquakes, volcanoes and other dynamically changing phenomena. Using precision real-time GPS and a sensor controlled flight management system, the system will be able to fly predefined paths with great precision. The expected performance of the flight control system will constrain the flight path to be within a 10 m diameter tube about the desired flight track. The radar will be designed to be operable on a UAV (Unpiloted Aria1 Vehicle) but will initially be demonstrated on a NASA Gulfstream III. The radar will be fully polarimetric, with a range bandwidth of 80 MHz (2 m range resolution), and will support a 16 km range swath. The antenna will be electronically steered along track to assure that the antenna beam can be directed independently, regardless of the wind direction and speed. Other features supported by the antenna include elevation monopulse and pulse-to-pulse re-steering capabilities that will enable some novel modes of operation. The system will nominally operate at 45,000 ft (13800 m). The program began as an Instrument Incubator Project (IIP) funded by NASA Earth Science and Technology Office (ESTO).

synthetic aperture radar (SAR)

Machine-learned closure of URANS for stably stratified turbulence: connecting physical timescales & data hyperparameters of deep time-series models

Stably stratified turbulence (SST), a model that is representative of the turbulence found in the oceans and atmosphere, is strongly affected by fine balances between forces and becomes more anisotropic in time for decaying scenarios. Moreover, there is a limited understanding of the physical phenomena described by some of the terms in the Unsteady Reynolds-Averaged Navier–Stokes (URANS) equations—used to numerically simulate approximate solutions for such turbulent flows. Rather than attempting to model each term in URANS separately, it is attractive to explore the capability of machine learning (ML) to model groups of terms, i.e. to directly model the force balances. We develop deep time-series ML for closure modeling of the URANS equations applied to SST. We consider decaying SST which are homogeneous and stably stratified by a uniform density gradient, enabling dimensionality reduction. We consider two time-series ML models: long short-term memory and neural ordinary differential equation. Both models perform accurately and are numerically stable in a posteriori (online) tests. Furthermore, we explore the data requirements of the time-series ML models by extracting physically relevant timescales of the complex system. We find that the ratio of the timescales of the minimum information required by the ML models to accurately capture the dynamics of the SST corresponds to the Reynolds number of the flow. The current framework provides the backbone to explore the capability of such models to capture the dynamics of high-dimensional complex dynamical system like SST flows.

97 MATHEMATICS AND COMPUTING

Rapid Airplane Parametric Input Design (RAPID)

RAPID is a methodology and software system to define a class of airplane configurations and directly evaluate surface grids, volume grids, and grid sensitivity on and about the configurations. A distinguishing characteristic which separates RAPID from other airplane surface modellers is that the output grids and grid sensitivity are directly applicable in CFD analysis. A small set of design parameters and grid control parameters govern the process which is incorporated into interactive software for 'real time' visual analysis and into batch software for the application of optimization technology. The computed surface grids and volume grids are suitable for a wide range of Computational Fluid Dynamics (CFD) simulation. The general airplane configuration has wing, fuselage, horizontal tail, and vertical tail components. The double-delta wing and tail components are manifested by solving a fourth order partial differential equation (PDE) subject to Dirichlet and Neumann boundary conditions. The design parameters are incorporated into the boundary conditions and therefore govern the shapes of the surfaces. The PDE solution yields a smooth transition between boundaries. Surface grids suitable for CFD calculation are created by establishing an H-type topology about the configuration and incorporating grid spacing functions in the PDE equation for the lifting components and the fuselage definition equations. User specified grid parameters govern the location and degree of grid concentration. A two-block volume grid about a configuration is calculated using the Control Point Form (CPF) technique. The interactive software, which runs on Silicon Graphics IRIS workstations, allows design parameters to be continuously varied and the resulting surface grid to be observed in real time. The batch software computes both the surface and volume grids and also computes the sensitivity of the output grid with respect to the input design parameters by applying the precompiler tool ADIFOR to the grid generation program. The output of ADIFOR is a new source code containing the old code plus expressions for derivatives of specified dependent variables (grid coordinates) with respect to specified independent variables (design parameters). The RAPID methodology and software provide a means of rapidly defining numerical prototypes, grids, and grid sensitivity of a class of airplane configurations. This technology and software is highly useful for CFD research for preliminary design and optimization processes.

Smith, Robert E.

Finite Element Models for Electron Beam Freeform Fabrication Process

Electron beam freeform fabrication (EBF3) is a member of an emerging class of direct manufacturing processes known as solid freeform fabrication (SFF); another member of the class is the laser deposition process. Successful application of the EBF3 process requires precise control of a number of process parameters such as the EB power, speed, and metal feed rate in order to ensure thermal management; good fusion between the substrate and the first layer and between successive layers; minimize part distortion and residual stresses; and control the microstructure of the finished product. This is the only effort thus far that has addressed computer simulation of the EBF3 process. The models developed in this effort can assist in reducing the number of trials in the laboratory or on the shop floor while making high-quality parts. With some modifications, their use can be further extended to the simulation of laser, TIG (tungsten inert gas), and other deposition processes. A solid mechanics-based finite element code, ABAQUS, was chosen as the primary engine in developing these models whereas a computational fluid dynamics (CFD) code, Fluent, was used in a support role. Several innovative concepts were developed, some of which are highlighted below. These concepts were implemented in a number of new computer models either in the form of stand-alone programs or as user subroutines for ABAQUS and Fluent codes. A database of thermo-physical, mechanical, fluid, and metallurgical properties of stainless steel 304 was developed. Computing models for Gaussian and raster modes of the electron beam heat input were developed. Also, new schemes were devised to account for the heat sink effect during the deposition process. These innovations, and others, lead to improved models for thermal management and prediction of transient/residual stresses and distortions. Two approaches for the prediction of microstructure were pursued. The first was an empirical approach involving the computation of thermal gradient, solidification rate, and velocity (G,R,V) coupled with the use of a solidification map that should be known a priori. The second approach relies completely on computer simulation. For this purpose a criterion for the prediction of morphology was proposed, which was combined with three alternative models for the prediction of microstructure; one based on solidification kinetics, the second on phase diagram, and the third on differential scanning calorimetry data. The last was found to be the simplest and the most versatile; it can be used with multicomponent alloys and rapid solidification without any additional difficulty. For the purpose of (limited) experimental validation, finite element models developed in this effort were applied to three different shapes made of stainless steel 304 material, designed expressly for this effort with an increasing level of complexity. These finite element models require large computation time, especially when applied to deposits with multiple adjacent beads and layers. This problem can be overcome, to some extent, by the use of fast, multi-core computers. Also, due to their numerical nature coupled with the fact that solid mechanics- based models are being used to represent the material behavior in liquid and vapor phases as well, the models have some inherent approximations that become more pronounced when dealing with multi-bead and multi-layer deposits.

Chandra, Umesh

Mixed Integer Programming and Heuristic Scheduling for Space Communication

Optimal planning and scheduling for a communication network was created where the nodes within the network are communicating at the highest possible rates while meeting the mission requirements and operational constraints. The planning and scheduling problem was formulated in the framework of Mixed Integer Programming (MIP) to introduce a special penalty function to convert the MIP problem into a continuous optimization problem, and to solve the constrained optimization problem using heuristic optimization. The communication network consists of space and ground assets with the link dynamics between any two assets varying with respect to time, distance, and telecom configurations. One asset could be communicating with another at very high data rates at one time, and at other times, communication is impossible, as the asset could be inaccessible from the network due to planetary occultation. Based on the network's geometric dynamics and link capabilities, the start time, end time, and link configuration of each view period are selected to maximize the communication efficiency within the network. Mathematical formulations for the constrained mixed integer optimization problem were derived, and efficient analytical and numerical techniques were developed to find the optimal solution. By setting up the problem using MIP, the search space for the optimization problem is reduced significantly, thereby speeding up the solution process. The ratio of the dimension of the traditional method over the proposed formulation is approximately an order N (single) to 2*N (arraying), where N is the number of receiving antennas of a node. By introducing a special penalty function, the MIP problem with non-differentiable cost function and nonlinear constraints can be converted into a continuous variable problem, whose solution is possible.

Lee, Charles H.

NASA Tech Briefs, July 2013

Dielectrophoresis-Based Particle Sensor Using Nanoelectrode Arrays; Multi-Dimensional Damage Detection for Surfaces and Structures; ULTRA: Underwater Localization for Transit and Reconnaissance Autonomy; Autonomous Cryogenic Leak Detector for Improving Launch Site Operations; Submillimeter Planetary Atmospheric Chemistry Exploration Sounder; Method for Reduction of Silver Biocide Plating on Metal Surfaces; Silicon Micromachined Microlens Array for THz Antennas; Forward-Looking IED Detector Ground Penetrating Radar; Fully Printed, Flexible, Phased Array Antenna for Lunar Surface Communication, Battery Charge Equalizer with Transformer Array; An Efficient, Highly Flexible Multi-Channel Digital Downconverter Architecture; Dimmable Electronic Ballast for a Gas Discharge Lamp; Conductive Carbon Nanotube Inks for Use with Desktop Inkjet Printing Technology; Enhanced Schapery Theory Software Development for Modeling Failure of Fiber-Reinforced Laminates; High-Performance, Low-Temperature-Operating, Long-Lifetime Aerospace Lubricants; Carbon Nanotube Microarrays Grown on Nanoflake Substrates; Differential Muon Tomography to Continuously Monitor Changes in the Composition of Subsurface Fluids; Microgravity Drill and Anchor System; 20 Granular Media-Based Tunable Passive Vibration Suppressor; 21 Miga Aero Actuator and 2D Machined Mechanical Binary Latch; Micro-XRF for In Situ Geological Exploration of Other Planets; Hydrogen-Enhanced Lunar Oxygen Extraction and Storage Using Only Solar Power; Uplift of Ionospheric Oxygen Ions During Extreme Magnetic Storms; Miniaturized, High-Speed, Modulated X-Ray Source; Hollow-Fiber Spacesuit Water Membrane Evaporator 25 High-Power Single-Mode 2.65-micrometers InGaAsSb/AlInGaAsSb Diode Lasers; Optical Device for Converting a Laser Beam Into Two Co-aligned but Oppositely Directed Beams; A Hybrid Fiber/Solid-State Regenerative Amplifier with Tunable Pulse Widths for Satellite Laser Ranging; X-Ray Diffractive Optics; SynGenics Optimization System (SynOptSys); 29 CFD Script for Rapid TPS Damage Assessment; radEq Add-On Module for CFD Solver Loci-CHEM; Science Opportunity Analyzer (SOA) Version 8; 30 Autonomous Byte Stream Randomizer; Distributed Engine Control Empirical/Analytical Verification Tools; Dynamic Server-Based KML Code Generator Method for Level-of-Detail Traversal of Geospatial Data; Automated Planning of Science Products Based on Nadir Overflights and Alerts for Onboard and Ground Processing; Linked Autonomous Interplanetary Satellite Orbit Navigation; Risk-Constrained Dynamic Programming for Optimal Mars Entry, Descent, and Landing; Scheduling Operations for Massive Heterogeneous Clusters; Deepak Condenser Model (DeCoM); Flight Software Math Library; Recirculating 1-K-Pot for Pulse-Tube Cryostats; 35 Method for Processing Lunar Regolith Using Microwaves; Wells for In Situ Extraction of Volatiles from Regolith (WIEVR); and Estimating the Backup Reaction Wheel Orientation Using Reaction Wheel Spin Rates Flight Telemetry from a Spacecraft.

Source record

Workshop on evolution of igneous asteroids: Focus on Vesta and the HED meteorites

Recently, the geology of the surface of Vesta has been coming to light. In 1983 Gaffey first began showing maps of the surface geology of Vesta constructed from numerous spectra obtained at different times as the asteroid rotated. By noting the details of spectral variation with rotation, he was able to develop two possible gross-scale geologic maps of Vesta showing the distributions of mafic and ultramafic materials. These maps were published in 1997. Finally, the capabilities of the Hubble Space Telescope were brought to bear on Vesta and images with a resolution of about 50 km were obtained using four different filters by Binzel and co-workers. Maps produced by this team published in 1997 began to reveal the geology of Vesta in sufficient detail that crude interpretations of the geologic history of the asteroid could be attempted. Additionally, in 1993 Binzel and Xu published a study of small asteroids in the region near Vesta in orbital-element space. In this study, they showed that there are a number of asteroids a few kilometers in size with reflectance spectra like that of Vesta that form a trail in orbital-element space from near Vesta to near resonances that can more easily supply material to near-Earth space. Binzel and Xu thus concluded that these small asteroids were spells of Vesta ejected by impact and that some of their brethren had been perturbed to Earth-approaching orbits. They suggested that these latter were the immediate parents of HED meteorites. This seemed to remove a long-standing dynamical objection to Vesta as the HED parent body, as discussed by Wasson and Wetherill in 1979. Within the last few years, NASA has initiated the Discovery program of low-cost, rapid-timescale development, exploration missions. Vesta has been proposed as an object worthy of study by a Discovery mission, although a Vesta mission has not yet been selected. With all the recent activity aimed at studying Vesta and the HED meteorites, and the possibility of a space mission to Vesta, we felt that time was ripe to convene a workshop bringing together astronomers, meteoriticists, and planetary geologists to focus on what could be learned about the geologic evolution of Vesta through integrating astronomical and HED meteorite studies. This, of course, assumes that the HED meteorites are from Vesta, and this issue was specifically addressed (but not resolved) in the workshop. Indeed, it seems likely that this issue can only be resolved by returning samples from Vesta for detailed study on Earth. The workshop was held at the LPI on October 16-18,1996, and was attended by some 70 scientists. Sessions included a set of talks on Earth- and space-based astronomical observations of Vesta plus the evidence pro and con for Vesta being the HED parent body, talks on the petrology and geochemistry of HED meteorites, talks on the formation and dynamics of ejecta from Vesta, talks on the thermal history of asteroids and HED meteorites, volcanic processes and differentiation history, and a short session devoted to possible missions to Vestal By all accounts, the workshop was considered a great success, although this is the opinion of a biased set of observers.

Mittlefehldt, D. W.

Effects of 2G on Gene Expression of Stress-Related Hormones in Rat Placenta

Understanding the effects of spaceflight on mammalian reproductive and developmental physiology is important to future human space exploration and permanent settlement beyond Earth orbit. Fetal developmental programming, including modulation of the HPA axis, is thought to originate at the placental-uterine interface, where both transfer of maternal hormones to the fetus and synthesis of endogenous hormones occurs. In healthy rats, fetal corticosterone levels are kept significantly lower by 11BetaHSD-2, which inactivates corticosterone by conversion into cortisone. Placental tissues express endogenous HPA axis-associated hormones including corticotropin-releasing hormone (CRH), pre-opiomelanocortin (POMC), and vasopressin, which may contribute to fetal programming alongside maternal hormones. DNA methylase 3A, 11BetaHSD-2, and 11BetaHSD-1, which are involved in the regulation of maternal cortisol transfer and modulation of the HPA axis, are also expressed in placental tissues along with glucocorticoid receptor and may be affected by differential gravity exposure during pregnancy. Fetuses may respond differently to maternal glucocorticoid exposure during gestation through sexually dimorphic expression of corticosterone-modulating hormones. To elucidate effects of altered gravity on placental gene expression, here we present a ground-based analogue study involving continuous centrifugation to produce 2g hypergravity. We hypothesized that exposure to 2g would induce a decrease in 11BetaHSD-2 expression through the downregulation of DNA methylase 3a and GC receptor, along with concurrent upregulation in endogenous CRH, POMC, and vasopressin expression. Timed pregnant female rats were exposed to 2G from Gestational day 6 to Gestational day 20, and comparisons made with Stationary Control (SC) and Vivarium Control (VC) dams at 1G. Dams were euthanized and placentas harvested on G20. We homogenized placental tissues, extracted and purified RNA, synthesized cDNA, and quantified the expression levels of the genes of interest relative to the GAPDH housekeeping gene, using RT-qPCR and gene-specific cDNA probes. Elucidation of glucocorticoid transfer and synthesis in the placenta can provide new insights into the unique dynamics of mammalian development in microgravity and guide future multi-generational studies in space.

Benson, S.

Modal Analysis of the Orion Capsule Two Parachute System

As discussed in Ref [1], it is apparent from flight tests that the system made up of two main parachutes and a capsule can undergo several distinct dynamical behaviors. The most significant and problematic of these is the pendulum mode in which the system develops a pronounced swinging motion with an amplitude of up to 24 deg. Large excursions away from vertical by the capsule could cause it to strike the ground at a large horizontal or vertical speed and jeopardize the safety of the astronauts during a crewed mission. In reference [1], Ali et al. summarized a series of efforts taken by the Capsule Parachute Assembly System (CPAS) Program to understand and mitigate the pendulum issue. The period of oscillation and location of the system's pivot point are determined from post-flight analysis. Other noticeable but benign modes include: 1) flyout (scissors) mode, where the parachutes move back and forth symmetrically with respect to the vertical axis similar to the motion of a pair of scissors; 2) maypole mode, where the two parachutes circle around the vertical axis at a nearly constant radius and period; and 3) breathing mode, in which deformation of the non-rigid canopies affects the axial acceleration of the system in an oscillatory manner. Because these modes are relatively harm- less, little effort has been devoted to analyzing them in comparison with the pendulum motion. Motions of the actual system made up of two parachutes and a capsule are extremely complicated due to nonlinearities and flexibility effects. Often it is difficult to obtain insight into the fundamental dynamics of the system by examining results from a multi-body simulation based on nonlinear equations of motion (EOMs). As a part of this study, the dynamics of each mode observed during flight is derived from first principles on an individual basis by making numerous simplifications along the way. The intent is to gain a better understanding into the behavior of the complex multi-body system by studying the reduced set of differential equations associated with each mode. This approach is analogous to the traditional modal analysis technique used to study airplane flight dynamics, in which the full nonlinear behavior of the airframe is decomposed into the phugoid and short period modes for the longitudinal dynamics and the spiral, roll-subsidence, and dutch-roll modes for the lateral dynamics. It is important to note that the study does not address the mechanisms that cause the system to transition from one mode to another, nor does it discuss motions during which two or more modes occur simultaneously.

Pei, J.

X-33 Integrated Test facility, Extended Range Simulation

In support of the X-33 Single Stage To Orbit program, NASA Dryden Flight Research Center was selected to provide continuous communications coverage of the X-33 vehicle from launch, through landing at Malmstrom Air Force Base, Montana and Michaels Army Air Field, Utah. An extensive real-time range simulation capability is being developed to ensure successful communications with the autonomous X-33 vehicle. This paper will provide an overview of the various levels of simulation being developed to support the X-33 extended range subsystems. These subsystems include the Flight Termination System, L-Band command uplink subsystem and the S-Band telemetry downlink subsystem. In addition, the radar model developed provides continuous azimuth, elevation and range information based on the flight trajectory. The Dynamic Ground Station Analysis model developed by NASA Goddard Space Flight Center, calculate the received signal strength at each ground station. This model takes into consideration Radio Frequency (RF) link parameters such as frequency, antenna gain, space loss, plasma effects and the vehicle's position and attitude at any point in time during the flight path. All three RF links are then attenuated based on this calculated level and the RF signals are sent into telemetry receivers to emulate remote sites, or the power incident on the vehicle from uplinked signals. The best source received telemetry data is then passed back to the Launch and Mission Control Monitoring System (LMCMS) resident in the Operations Control Center. The LMCMS also provides the range simulation system the uplink command combined with differential GPS corrections. Later stages will require the progressive integration of actual range hardware with this simulation effort, leading to communication between telemetry, uplink and FTS antennas at NASA Dryden Flight Research Center, with vehicle antennas mounted on the Walter C. Williams Research Aircraft Integration Facility (RAIF). Decommutated Pulse Code Modulated (PCM) data is displayed on one of the four monitors that comprise the Range Safety Officer's (RSO) station. Also displayed are instantaneous impact prediction models, and Federal Aviation Administration (FAA) data for notification of other traffic in the area. Aside from initiating the flight termination command and validating communication links, the RSO station with the range simulation will be used to provide both range control and range safety officers training. The training is necessary to perform their respective functions with greater levels of confidence prior to first flight.

Sharma, Ashley

Venus Multiprobe Mission

A summary of the proposal for the Discovery Program Venus Multiprobe Mission (VMPM) which was submitted in 1994 will be presented. The major goal of the mission was to provide sufficient observations of winds and thermal structure in the Venus atmosphere that the mechanism producing the atmospheric superrotation could be identified. The superrotation has been a major unsolved problem of planetary science for over 30 years. In spite of many theoretical efforts and many spacecraft missions to Venus, the principal driving mechanism(s) remain undetermined. Sixteen small probes, modeled after the Pioneer Venus small probes, would enter the Venus atmosphere, and measure winds, temperatures, and pressures from 60 km to the surface. Towards the bottom of the atmosphere, measurements would be made at 10 meter intervals. Temperature and pressure measurements are similar to those used on Pioneer Venus, but are four times more sensitive. Winds would be obtained by dual-frequency, differential. long-baseline interferometry, using S- and X-band transmitters on the probes, and four receiving telescopes round the Pacific rim. The precision of wind measurements is 0.05 ms- 1 or better, at least twenty times more precise than for Pioneer Venus. Ground based observations occurring in conjunction with the multiprobe entries would provide a temporal context for the upper boundary to the probe observations. UV and near IR features would be tracked for periods of hours to weeks to obtain cloud level zonal mean and transient eddy circulations with accuracies of 10 /ms or better. The data would be processed into wind and opacity maps. A hierarchy of atmospheric numerical models would be used to distinguish different dynamical elements existing in the data. Primary among the models was the development of a Venus general circulation model containing all known physical processes.

Young, Richard E.

System monitoring and diagnosis with qualitative models

A substantial foundation of tools for model-based reasoning with incomplete knowledge was developed: QSIM (a qualitative simulation program) and its extensions for qualitative simulation; Q2, Q3 and their successors for quantitative reasoning on a qualitative framework; and the CC (component-connection) and QPC (Qualitative Process Theory) model compilers for building QSIM QDE (qualitative differential equation) models starting from different ontological assumptions. Other model-compilers for QDE's, e.g., using bond graphs or compartmental models, have been developed elsewhere. These model-building tools will support automatic construction of qualitative models from physical specifications, and further research into selection of appropriate modeling viewpoints. For monitoring and diagnosis, plausible hypotheses are unified against observations to strengthen or refute the predicted behaviors. In MIMIC (Model Integration via Mesh Interpolation Coefficients), multiple hypothesized models of the system are tracked in parallel in order to reduce the 'missing model' problem. Each model begins as a qualitative model, and is unified with a priori quantitative knowledge and with the stream of incoming observational data. When the model/data unification yields a contradiction, the model is refuted. When there is no contradiction, the predictions of the model are progressively strengthened, for use in procedure planning and differential diagnosis. Only under a qualitative level of description can a finite set of models guarantee the complete coverage necessary for this performance. The results of this research are presented in several publications. Abstracts of these published papers are presented along with abtracts of papers representing work that was synergistic with the NASA grant but funded otherwise. These 28 papers include but are not limited to: 'Combined qualitative and numerical simulation with Q3'; 'Comparative analysis and qualitative integral representations'; 'Model-based monitoring of dynamic systems'; 'Numerical behavior envelopes for qualitative models'; 'Higher-order derivative constraints in qualitative simulation'; and 'Non-intersection of trajectories in qualitative phase space: a global constraint for qualitative simulation.'

Kuipers, Benjamin

MITgcm-AD v2: Open source tangent linear and adjoint modeling framework for the oceans and atmosphere enabled by the Automatic Differentiation tool Tapenade

The Massachusetts Institute of Technology General Circulation Model (MITgcm) is widely used by the climate science community to simulate planetary atmosphere and ocean circulations. A defining feature of the MITgcm is that it has been developed to be compatible with an algorithmic differentiation (AD) tool, TAF, enabling the generation of tangent-linear and adjoint models. These provide gradient information which enables dynamics-based sensitivity and attribution studies, state and parameter estimation, and rigorous uncertainty quantification. Importantly, gradient information is essential for computing comprehensive sensitivities and performing efficient large-scale data assimilation, ensuring that observations collected from satellites and in-situ measuring instruments can be effectively used to optimize a large uncertain control space. As a result, the MITgcm forms the dynamical core of a key data assimilation product employed by the physical oceanography research community: Estimating the Circulation and Climate of the Ocean (ECCO) state estimate. Although MITgcm and ECCO are used extensively within the research community, the AD tool TAF is proprietary and hence inaccessible to a large proportion of these users. The new version 2 (MITgcm-AD v2) framework introduced here is based on the source-to-source AD tool Tapenade, which has recently been open-sourced. Another feature of Tapenade is that it stores required variables by default (instead of recomputing them) which simplifies the implementation of efficient, AD-compatible code. The framework has been integrated with the MITgcm model’s main branch and is now freely available.

Adjoints

Observations of Fast-Moving Features in the Debris Disk of AU Mic on a Three-Year Timescale: Confirmation and New Discoveries

Context. The nearby and young M star AU Mic is surrounded by a debris disk in which we previously identified a series of large-scale arch-like structures that have never been seen before in any other debris disk and that move outward at high velocities. Aims. We initiated a monitoring program with the following objectives: (1) track the location of the structures and better constrain their projected speeds, (2) search for new features emerging closer in, and ultimately (3) understand the mechanism responsible for the motion and production of the disk features. Methods. AU Mic was observed at 11 different epochs between August 2014 and October 2017 with the IR camera and spectrograph of SPHERE. These high-contrast imaging data were processed with a variety of angular, spectral, and polarimetric differential imaging techniques to reveal the faintest structures in the disk. We measured the projected separations of the features in a systematic way for all epochs. We also applied the very same measurements to older observations from the Hubble Space Telescope (HST) with the visible cameras STIS and ACS. Results. The main outcomes of this work are (1) the recovery of the five southeastern broad arch-like structures we identified in our first study, and confirmation of their fast motion (projected speed in the range 4–12 km/s); (2) the confirmation that the very first structures observed in 2004 with ACS are indeed connected to those observed later with STIS and now SPHERE; (3) the discovery of two new very compact structures at the northwest side of the disk (at 0.40′′ and 0.55′′ in May 2015) that move to the southeast at low speed; and (4) the identification of a new arch-like structure that might be emerging at the southeast side at about 0.4′′ from the star (as of May 2016). Conclusions. Although the exquisite sensitivity of SPHERE allows one to follow the evolution not only of the projected separation, but also of the specific morphology of each individual feature, it remains difficult to distinguish between possible dynamical scenarios that may explain the observations. Understanding the exact origin of these features, the way they are generated, and their evolution over time is certainly a significant challenge in the context of planetary system formation around M stars.

Boccaletti, A.

Stable isotopic biogeochemistry of carbon and nitrogen in a perennially ice-covered Antarctic lake

Lake Hoare (77 degrees 38' S, 162 degrees 53' E) is an amictic, oligotrophic, 34-m-deep, closed-basin lake in Taylor Valley, Antarctica. Its perennial ice cover minimizes wind-generated currents and reduces light penetration, as well as restricts sediment deposition into the lake and the exchange of atmospheric gases between the water column and the atmosphere. The biological community of Lake Hoare consists solely of microorganisms -- both planktonic populations and benthic microbial mats. Lake Hoare is one of several perennially ice-covered lakes in the McMurdo Dry Valleys that represent the end-member conditions of cold desert and saline lakes. The dry valley lakes provide a unique opportunity to examine lacustrine processes that operate at all latitudes, but under an extreme set of environmental conditions. The dry valley lakes may also offer a valuable record of catchment and global changes in the past and present. Furthermore, these lakes are modern-day equivalents of periglacial lakes that are likely to have been common during periods of glacial maxima at temperate latitudes. We have analyzed the dissolved inorganic carbon (DIC) of Lake Hoare for delta 13C and the organic matter of the sediments and sediment-trap material for delta 13C and delta 15N. The delta 13C of the DIC indicates that 12C is differentially removed in the shallow, oxic portions of the lake via photosynthesis. In the anoxic portions of the lake (27-34 m) a net addition of 12C to the DIC pool occurs via organic matter decomposition. The dissolution of CaCO3 at depth also contributes to the DIC pool. Except near the Canada Glacier where a substantial amount of allochthonous organic matter enters the lake, the organic carbon being deposited on the lake bottom at different sites is isotopically similar, suggesting an autochthonous source for the organic carbon. Preliminary inorganic carbon flux calculations suggest that a high percentage of the organic carbon fixed in the water column is remineralized as it falls through the water column. At nearby Lake Fryxell, the substantial (relative to Lake Hoare) glacial meltstream input overprints Fryxell's shallow-water biological delta 13C signal with delta 13C-depleted DIC. In contrast, Lake Hoare is not significantly affected by surface-water input and mixing, and therefore the delta 13C patterns observed arise primarily from biological dynamics within the lake. Organic matter in Lake Hoare is depleted in 15N, which we suggest is partially the result of the addition of relatively light inorganic nitrogen into the lake system from terrestrial sources.

NASA Program Exobiology