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NASA NTRSDate not supplied

Yellowstone Ecological Forecasting: Assessing Change in Aspen Extent in Northern Yellowstone National Park

The removal and reintroduction of the gray wolf (Canis lupus) in Yellowstone National Park have played an important role in shaping the ecological composition of this distinct landscape, and it is a textbook example of multi-trophic dynamics. With particular importance to conservation science, the inter-trophic cascades between wolves and species such as the elk (Cervus canadensis) and the quaking aspen (Populus tremuloides) have been extensively studied. In conjunction with the National Park Service, Yellowstone National Park, Utah State University, and the University of Wisconsin–Stevens Point, this project utilized satellite remote sensing to investigate the long-term trends in aspen extent. Through random forest modeling and phenological approaches, Sentinel-2 Multispectral Instrument (MSI; years 2017–2019) and Landsat 5 Thematic Mapper (TM; years 1987–2011) datasets were used to derive an Enhanced Vegetation Index (EVI), a Normalized Difference Vegetation Index (NDVI), Tasseled Cap Indices (Brightness, Greenness, Wetness), and RGB true color composites. The International Space System Global Ecosystem Dynamics Investigation (ISS GEDI) was used to analyze canopy height. Results were consolidated into maps and time-series that provide an in-depth and intricate depiction of aspen stand extent. The end products will assist the National Park Service in its management practices and inform wildlife restoration and rewilding decisions within and beyond the contexts of Yellowstone National Park.

Kyle Steen↗

NASA NTRS2022

Effects of Repeated Fire on Florida Oak-Saw Palmetto Scrub

Background: The dominant species of Florida oak-saw palmetto scrub sprout after burning from belowground rhizomes or fire-resistant aboveground buds with rapid reestablishment of cover. Responses to single fires are well documented; however, responses to repeated fires may differ. Fire return intervals, differences among sites, and species may influence responses. We used transect data from four sites on Kennedy Space Center/Merritt Island National Wildlife Refuge to test whether growth differed through repeated fires. Two sites burned five times in 36 years, one site burned five times in 25 years, and one burned four times in 18 years. We used linear mixed models that account for repeated measures to determine if the number of fires affected height, total cover ≥ 0.5 m and < 0.5 m, bare ground, and cover of the dominant oak (Quercus) ≥ 0.5 m and of saw palmetto (Serenoa repens) ≥ 0.5 m. We compared community composition through repeated fires using nonmetric multidimensional scaling ordination. Results: Height, total cover ≥ 0.5 m, and cover of the dominant oak ≥ 0.5 m and of saw palmetto ≥ 0.5 m increased with time since burn; total cover < 0.5 m and bare ground decreased. A quadratic term in the growth model was significant except for total cover < 0.5 m. There were site differences for all variables except bare ground. The number of fires decreased height, total cover ≥ 0.5 m, and cover of the dominant oak ≥ 0.5 and increased total cover < 0.5 m and bare ground but had no effect on cover of Serenoa repens ≥ 0.5 m. Community changes after repeated fires were similar in nonmetric multidimensional ordinations with time since burn correlated to the first or second axis. Conclusions: Scrub recovered from repeated fires at a range of intervals and seasons, but short return intervals reduced growth with responses differing among species.

Florida↗

NASA NTRS2022

Yellowstone Ecological Forecasting: Assessing Change in Aspen Extent in Northern Yellowstone National Park

The removal and reintroduction of the gray wolf (Canis lupus) in Yellowstone National Park have shaped the ecological composition of this distinct landscape, representing a textbook example of trophic dynamics. With particular importance to conservation science, researchers have studied the trophic cascades between wolves and species such as elk (Cervus canadensis) and quaking aspen (Populus tremuloides). In conjunction with the National Park Service, Yellowstone National Park, Utah State University, and the University of Wisconsin–Stevens Point, this project utilized satellite remote sensing to investigate the long-term trends in aspen extent. Through random forest modeling and phenological approaches, Landsat 5 Thematic Mapper (TM; years 1986–2011) and Sentinel-2 Multispectral Instrument (MSI; years 2017–2019) datasets were used to derive color composites, Normalized Difference Vegetation Index (NDVI), Enhanced Vegetation Index (EVI), and Tasseled Cap Indices (Brightness, Greenness, Wetness). The International Space System (ISS) Global Ecosystem Dynamics Investigation (GEDI) provided canopy height data. The team consolidated results into maps and time-series which provide an in-depth depiction of aspen stand extent. The National Park Service will use these end products to assist in its management practices and inform wildlife restoration decisions within and beyond Yellowstone National Park.

Kyle Steen↗

NASA NTRSDate not supplied

Keweenaw Bay Water Resources: Turbidity Data Decision Support for Shoreline Assessment and Management in Lake Superior's Keweenaw Bay

Community Concerns: Keweenaw Bay is vulnerable to flooding and erosion, which threaten wetland restoration projects that provide a critical habitat for wildlife and fish. Erosion and flooding threaten the loss of public beaches and shoreline, coastal infrastructure, and impacts to coastal highways, which has driven shoreline armoring projects. Our goals were to first, produce a seasonal turbidity analysis to understand the sediment redistribution patterns in the bay during snow melt and rainy seasons to provide insight into coastal sediment dynamics. KBIC has completed an Environmental Protection Agency (EPA) - funded project titled "Long-Term Coastal Dynamic Collaborative for Tribal Resiliency" which has thus far produced detailed shoreline maps of the area. The NASA DEVELOP project is taking place in between phase 1 and 2 of the EPA-funded project.

Khaim Syed-Raza↗

NASA NTRSDate not supplied

A Strategic Approach for Dense, Integrated, Vehicle Navigation

Drone usage has been on the rise in recent years with applications that include parcel delivery, wildlife protection, precision farming, law enforcement, and industrial inspection, just to name a few. Once regulations and safety policies are put in place to allow for the widespread use of unmanned drones, the number of aircraft in the National Airspace System (NAS) is expected to skyrocket to millions, potentially congesting the airspace which increases the likelihood of separation violations and possibly incidents. Currently, flight infrastructure can only support a few thousand aircraft flying over the United States National Airspace System (NAS) at any given time. A delay at one airport can send ripple effects throughout the system, causing more delays and missed connections. In air traffic control, separation is the concept of keeping an “ownship” aircraft outside a minimum distance from “intruder” aircraft to reduce the risk of the aircraft colliding, as well as preventing accidents due to secondary factors, such as wake turbulence. Maintaining proper separation is often a safety critical property for fixed-wing drones in the airspace. This paper addresses drone separation in time and distance for high volume corridors (en route) and lanes (on ground), merging as well as crossing intersections of multiple corridors/lanes. In this paper, the term drone is applied to both Unmanned Aerial Vehicle (UAV) and small Unmanned Aircraft System (UAS) vehicles operating autonomously. There exists a gamut of approaches to the merging and crossing problems. At one end of the extreme are the conservative yet low cost and verifiable solutions of today that deal with two drones at a time. At the other end are complex Machine Learning-based solutions with high computing requirements for fully autonomous drones of the future that are expected to handle all contentions. This paper presents a feasible and verifiable strategic approach to these problems that is based on distributed cooperation between the drones and the infrastructure. Three phases of the strategic approach (Prepare, Adjust, Commit) are presented. Simulation results are presented that show the proposed approach is stable and resilient to induced perturbations and guarantees a set of fixed-wing drones to merge and cross intersections by adjusting their speed based on their distance to the aircraft in front of them while remaining in the equilibrium state. The equilibrium state is defined as the state when a set of n aircraft move at a relatively constant speed and uniform spacing from each other in a congested system. A congested system is defined as the state when at least one aircraft cannot move at its maximum allowed speed. Unlike existing centralized and pre-planned approaches, the proposed solution is fully distributed and enables autonomous aircraft to decide to adjust their speed and distance with respect to the preceding aircraft, dynamically. Simulation results are presented that assess the feasibility of the approach.

Distributed↗

NASA NTRSDate not supplied

A Strategic Approach for Dense, Integrated, Vehicle Navigation

Distributed↗

NASA NTRSDate not supplied

A Strategic Approach for Dense, Integrated, Vehicle Navigation

Drone usage has been on the rise in recent years with applications that include parcel delivery, wildlife protection, precision farming, law enforcement, and industrial inspection, just to name a few. This paper addresses drone separation in time and distance for high volume corridors (en route) and lanes (on ground), merging as well as crossing intersections of multiple corridors/lanes. There exists a gamut of approaches to solving merging and intersection crossing problems. At one end of the extreme are the conservative yet low cost and verifiable solutions of today that deal with two drones at a time. At the other end are complex Machine Learning-based solutions with high computing requirements for fully autonomous drones of the future that are expected to handle all contentions. This paper presents a feasible and verifiable strategic approach to solving these problems that is based on distributed cooperation between the UAVs/UASs and the infrastructure. Unlike existing centralized and pre-planned approaches, the proposed solution is fully distributed and enables autonomous aircraft to decide to adjust their speed and distance with respect to the preceding aircraft, dynamically. Three phases of the strategic approach (Prepare, Adjust, Commit) are presented. Simulation results are presented that show the proposed approach is stable and resilient to induced perturbations and guarantees a set of fixed-wing UAVs/UASs to merge and cross intersections by adjusting their speed based on their distance to the aircraft in front of them.

Distributed↗

NASA NTRS2023

Intensified Warming and Aridity Accelerate Terminal Lake Desiccation in the Great Basin of the Western United States

Terminal lakes in the Great Basin (GB) of the western US host critical wildlife habitat and food for migrating birds and can be associated with serious human health and economic consequences when they desiccate. Water levels have declined dramatically in the last 100+ years due to diversion of inflows, drought and climate change. Satellite-derived environmental science data records (ESDRs) from the MODerate-resolution Imaging Spectroradiometer (MODIS) (snow cover, evapotranspiration (ET) and land surface temperature (LST)), enable a unique approach to evaluate the effects of aridification on terminal lakes and to study their individual vulnerabilities. Surface and air temperatures in the GB are rising dramatically, with a sharp rise in the rate of increase observed beginning around 2011, while the number of days of snow cover is declining especially in the western mountainous part of the GB as exemplified in Mono Basin, California. Rising temperatures coincide with fewer days of snow cover, a decrease of inflow to the lakes and greater evaporation of water from the lakes. MODIS ESDRs show strong and statistically significant increasing surface temperature (LST) in the GB, a reduction in the number of days of snow cover, and mixed results in ET. ET declined slightly in the more arid parts of the GB due to greater moisture restrictions to evaporation from extended drought, while ET increased in the more-vegetated, wetter, mountainous northeastern parts as temperatures have risen. Severe and costly ecological, human health and economic consequences are expected if the lakes continue to decline as predicted.

land surface temperature↗

NASA NTRSDate not supplied

Linking Individual Variation in Movement Behavior to Infection Dynamics in Highly Mobile Species

Animal movements are linked to infectious disease dynamics in wildlife through multiple mechanisms across various spatial and temporal scales. For example, infections can impede the movement of infected individuals, but infected hosts can also disperse infectious agents as they move. Individuals inevitably vary in their responses to infections and their roles in determining infection dynamics, which means that considering variation among individuals – whether across species, across time, or within populations – is important for understanding movement-disease relationships and their implications for epidemiology. Here, I draw on studies from multiple systems to examine how variation in movement behavior links to infectious disease epidemiology. For example, a comparative study of habitat selection across multiple waterfowl species highlights that diel behavioral patterns, rather than individual or seasonal variation, is the most important driver of the risk of overlap between waterfowl and poultry farms, and therefore for the risk of avian influenza spillover. Together, these studies show that individual traits interact with the environment to influence the roles of individuals for infectious disease ecology.

Claire Stewart Teitelbaum↗

NASA NTRS2023

South Slough Water Resources: Monitoring Changes in Water Quality to Identify Stressors in Eelgrass Extent Throughout the Coos Estuary

The Coos estuary in Southern Oregon supports a variety of habitats, including eelgrass (Zostera marina) meadows. Eelgrass meadows provide shelter and sustenance to local and migratory wildlife, including commercially important fishes, and cultural resources to local communities. These ecosystem services establish eelgrass as an ecologically, economically, and culturally important resource. However, the extent and density of eelgrass meadows within this estuary have declined substantially since 2005, threatening the ecosystem services they provide. NASA DEVELOP partnered with the South Slough National Estuarine Research Reserve and the Confederated Tribes of the Coos, Lower Umpqua, and Siuslaw Indians’ Department of Natural Resources to generate time-series maps of the water quality conditions (chlorophyll-a, turbidity) and eelgrass extent in the Coos estuary from 2016 to 2023 to better understand the conditions driving eelgrass decline. The DEVELOP team used NASA Earth observations including Landsat 8 Operational Land Imager (OLI), Landsat 9 OLI-2, and the European Space Agency’s Sentinel-2 Multispectral Instrument (MSI) to generate these time-series maps. The team faced limitations in the feasibility of detecting eelgrass within the Coos Estuary, including spectral resolution, tidal phase, and turbidity. These limitations indicate additional in situ data collection will be necessary for accurate eelgrass assessment. Meanwhile, the team determined it is feasible to assess turbidity and chlorophyll-a within the Coos Estuary using remote satellite data. These tools enabled the research partners to assess water quality characteristics within the Coos Estuary at a greater spatial scale and may provide a method of inexpensive preliminary investigation of eelgrass meadow locations.

eelgrass↗

NASA NTRS2023

Accounting for Herbaceous Communities in Process-Based Models Will Advance Our Understanding of “Grassy” Ecosystems

Grassland and other herbaceous communities cover significant portions of Earth's terrestrial surface and provide many critical services, such as carbon sequestration, wildlife habitat, and food production. Forecasts of global change impacts on these services will require predictive tools, such as process-based dynamic vegetation models. Yet, model representation of herbaceous communities and ecosystems lags substantially behind that of tree communities and forests. The limited representation of herbaceous communities within models arises from two important knowledge gaps: first, our empirical understanding of the principles governing herbaceous vegetation dynamics is either incomplete or does not provide mechanistic information necessary to drive herbaceous community processes with models; second, current model structure and parameterization of grass and other herbaceous plant functional types limits the ability of models to predict outcomes of competition and growth for herbaceous vegetation. In this review, we provide direction for addressing these gaps by: (1) presenting a brief history of how vegetation dynamics have been developed and incorporated into earth system models, (2) reporting on a model simulation activity to evaluate current model capability to represent herbaceous vegetation dynamics and ecosystem function, and (3) detailing several ecological properties and phenomena that should be a focus for both empiricists and modelers to improve representation of herbaceous vegetation in models. Together, empiricists and modelers can improve representation of herbaceous ecosystem processes within models. In so doing, we will greatly enhance our ability to forecast future states of the earth system, which is of high importance given the rapid rate of environmental change on our planet.

biogeochemistry↗

NASA NTRS2024

Overview of Two Decision-Support Systems for Viticulture

Sustainable water management is one of the most challenging issues of our time, especially in the arid western U.S. Adequate water supplies are crucial to maintaining the health of communities, rivers, and wildlife, and nothing is more important to agriculture’s ability to produce food for the world’s growing population. Maximizing the benefits of our water supplies requires careful measurement of their availability and use. For irrigated agriculture, satellite-based estimates of evapotranspiration (ET) provide a measure of the water used to grow food — the biggest share of water consumption in most arid environments around the world. However, access to ET data has been limited and expensive, keeping it out of the hands of most water users and decision-makers. OpenET provides open, easily accessible satellite-based ET data for water management support. The OpenET collaborative includes leading national and international experts in remote sensing of ET, cloud computing, and water policy, partnered with nationally recognized web development teams and leaders in the western agriculture and water management communities. The system can be accessed at https://openetdata.org/.

Overview↗

NASA NTRS2023

How do tradeoffs in satellite spatial and temporal resolution impact snow water equivalent reconstruction?

Given the tradeoffs between spatial and temporal resolution, questions about resolution optimality are fundamental to the study of global snow. Answers to these questions will inform future scientific priorities and mission specifications. Heterogeneity of mountain snowpacks drives a need for daily snow cover mapping at the slope scale (≤30 m) that is unmet for a variety of scientific users, ranging from hydrologists to the military to wildlife biologists. But finer spatial resolution usually requires coarser temporal or spectral resolution. Thus, no single sensor can meet all these needs. Recently, constellations of satellites and fusion techniques have made noteworthy progress. The efficacy of two such recent advances is examined: (1) a fused MODIS–Landsat product with daily 30 m spatial resolution and (2) a harmonized Landsat 8 and Sentinel 2A and B (HLS) product with 3–4 d temporal and 30 m spatial resolution. State-of-the-art spectral unmixing techniques are applied to surface reflectance products from 1 and 2 to create snow cover and albedo maps. Then an energy balance model was run to reconstruct snow water equivalent (SWE). For validation, lidar-based Airborne Snow Observatory SWE estimates were used. Results show that reconstructed SWE forced with 30 m resolution snow cover has lower bias, a measure of basin-wide accuracy, than the baseline case using MODIS (463 m cell size) but greater mean absolute error, a measure of per-pixel accuracy. However, the differences in errors may be within uncertainties from scaling artifacts, e.g., basin boundary delineation. Other explanations are (1) the importance of daily acquisitions and (2) the limitations of downscaled forcings for reconstruction. Conclusions are as follows: (1) spectrally unmixed snow cover and snow albedo from MODIS continue to provide accurate forcings for snow models and (2) finer spatial and temporal resolution through sensor design, fusion techniques, and satellite constellations are the future for Earth observations, but existing moderate-resolution sensors still offer value.

Edward H. Bair↗

NASA NTRSDate not supplied

Where Safety and Testing Fuse

White Sands Test Facility (WSTF) is located in the beautiful southwest desert of Las Cruces, NM. At the base of the Organ Mountains, WSTF personnel, in addition to hazardous testing and operations, have a variety of environmental safety concerns from extreme heat, high winds, lightning, cold, and wandering wildlife. This presentation will describe how our site handles and eliminates these safety concerns.

Nicholas D Fevrier↗

NASA NTRSDate not supplied

FATE: The drifting Fish Aggregating Device (dFAD) TrajEctory Modeling Tool for Marine Protected Area Management

Drifting fish aggregating devices (dFADs) routinely enter marine protected areas (MPAs) and may undermine MPA protections by drifting out of the MPA with the aggregated fish biomass, or grounding and damaging sensitive coral reef habitats. MPA managers must decide whether to deploy resources in response to dFAD intrusions. To address this issue, we propose to quantify dFAD activity in relation to ocean currents, fish biomass, and animal telemetry at Palmyra Atoll, part of the Pacific Remote Islands Marine National Monument in the central Pacific Ocean. Specifically, we propose to develop the dFAD TrajEctory Tool (FATE). FATE is an innovative decision support tool that will use NASA observations and numerical models to predict future dFAD trajectories and inform TNC and USFWS whether they should deploy tactical resources (boats, personnel) to monitor, intercept, or retrieve dFADs that have entered the Refuge. The objectives are to use NASA observational constraints on ocean winds and currents to assist with the ecological management of the Palmyra Atoll NWR and MPA. Specifically, we will deliver an operational software tool that quantifies the grounding risk associated with each tracked dFAD and decision support for grounding risk mitigation via intercept at sea. This project addresses Element 3.3: Protected area management of the 2022 Ecological Conservation Solicitation by developing a tool needed by MPA managers to make tactical and strategic decisions focused on improving the effectiveness of MPAs. By quantifying the riskof dFADs, this project will help monitor and better inform the deployment of tactical (ships/personnel) and strategic (legislative) resources to better manage MPAs. This project is a collaboration between The Nature Conservancy, who operate long-term projects within the Palmyra MPA, and the U.S. Fish and Wildlife Service, who have the authority to make decisions related to its management. We expect that the results of our proposal will benefit marine resources within the Palmyra MPA and could be transferred to other remote MPAs within the US and other island nations within the Pacific Ocean.

TrajEctory↗

NASA NTRS2024

Southern California Water Resources: Using NASA Earth Observations to Monitor Seagrass Extent and Water Quality Parameters in Southern California

Eelgrass (Zostera marina) is a species of submerged aquatic vegetation found in shallow bays and estuaries with soft seafloors. Eelgrass is recognized for providing ecosystem benefits, such as carbon sequestration, sediment stabilization, water clarification, and fish and wildlife habitats. However, eelgrass is impacted by both marine and terrestrial threats associated with climate change. In this project, we worked with the Southern California Coastal Water Research Project, the National Oceanic and Atmospheric Administration’s National Marine Fisheries Service, and the State of California San Diego Regional Water Quality Control Board to investigate water quality parameters (i.e., chlorophyll-a concentration, sea surface temperature, and turbidity) associated with eelgrass in Newport Bay and Mission Bay, California. The team used Landsat 8 Operational Land Imager and Thermal Infrared Sensor, Landsat 9 Operational Land Imager-2 and Thermal Infrared Sensor-2, Sentinel-2 MultiSpectral Instrument, and ECOsystem Spaceborne Thermal Radiometer Experiment on Space Station land surface temperature and cloud mask to create a time series of these water quality parameters from 2019–2023. We found that the parameters followed cyclical, seasonal patterns with turbidity and sea surface temperature peaking in the summer. We did not find that the parameters had changed significantly over longer time periods. These results will be used in a model developed by the Southern California Coastal Water Research Project to assess eelgrass ecosystem health and predict ecosystem occupancy in the future.

Katya Beener↗

NASA NTRS2024

Idaho & Oregon Agriculture: Monitoring Vegetation Impacts of Livestock Management Practices Used to Reduce Predator Conflicts on Idaho and Oregon Grazing Allotments

The practice of night penning, which involves corralling livestock into a fenced, secure area overnight, aims to safeguard animals from predators. Although this method has proven successful in minimizing interactions between livestock and wildlife, the extent of its impact on vegetation communities is still being explored. This project examines the feasibility of using Net Primary Productivity (NPP) values from the Rangeland Analysis Platform (RAP) to quantify the impacts of night penning on rangeland vegetation communities. RAP provides spatially distributed values of vegetation composition, cover, and productivity, and is derived from imagery from Landsat 5, Landsat 7 & Landsat 8 at a 30m resolution for rangelands across the United States. Our DEVELOP team partnered with Alderspring Ranch, Krebs Livestock, and the U.S Department of Agriculture Animal & Plant Health Inspection Service (APHIS) to analyze the impacts of night penning on vegetation communities. We identified control sites that captured the topographic characteristics of night pen sites used by our partners. We then quantified and compared changes in annual NPP between night pen and control sites. Our analysis of RAP NPP data, using a control-treatment design did not find impacts of night penning on vegetation. However, this was a preliminary analysis, and does not conclusively quantify the impacts of night penning on rangeland vegetation. Our analysis indicated that RAP may be a feasible tool to study livestock management impacts on rangeland vegetation; however, future studies could further validate these findings through ground observations.

Rangeland Analysis Platform (RAP)↗

NASA NTRS2023

Interactions Between Thresholds and Spatial Discretizations of Snow: Insights From Estimates of Wolverine Denning Habitat in the Colorado Rocky Mountains

Thresholds can be used to interpret environmental data in a way that is easily communicated and useful for decision making purposes. However, thresholds are often developed for specific data products and time periods, changing findings when the same threshold is applied to datasets or periods with different characteristics. Here, we test the impact of different spatial discretizations of snow on annual estimates of wolverine denning opportunities in the Colorado Rocky Mountains, defined using a snow water equivalent (SWE) threshold (0.20 m) and threshold date (15 May) from previous habitat assessments. Annual potential wolverine denning area (PWDA) was thresholded from a 36-year (1985 – 2020) snow reanalysis model with three different spatial discretizations: 1) 480 m grid cells (D480), 2) 90 m grid cells (D90), and 3) 480 m grid cells with implicit representations of subgrid snow spatial heterogeneity (S480). Relative to the D480 and S480 discretizations, D90 resolved shallower snow deposits on slopes between 3050 and 3350 m elevation, decreasing PWDA by 10%, on average. In years with warmer and/or drier winters, S480 discretizations with subgrid representations of snow heterogeneity increased PWDA, even within grid cells where mean 15 May SWE was less than the SWE threshold. These simulations increased PWDA by upwards of 30% in low snow years, as compared to the D480 and D90 simulations without subgrid snow heterogeneity. Despite PWDA sensitivity to different snow spatial discretizations, PWDA was controlled more by annual variations in winter precipitation and temperature. However, small changes to the SWE threshold (± 0.07 m) and threshold date (± 2 weeks) also affected PWDA by as much as 82%. Across these threshold ranges, PWDA was approximately 18% more sensitive to the SWE threshold than the threshold date. However, the sensitivity to the threshold date was larger in years with late spring snowfall, when PWDA depended on whether modeled SWE was thresholded before, during, or after spring snow accumulation. Our results demonstrate that snow thresholds are useful but may not always provide a complete picture of the annual variability in snow-adapted wildlife denning opportunities. Studies thresholding spatiotemporal datasets could be improved by including 1) information about the fidelity of thresholds across multiple spatial discretizations, and 2) uncertainties related to ranges of realistic thresholds.

Justin M. Pflug↗