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NASA NTRS2007

Mission Simulation Toolkit

The Mission Simulation Toolkit (MST) is a flexible software system for autonomy research. It was developed as part of the Mission Simulation Facility (MSF) project that was started in 2001 to facilitate the development of autonomous planetary robotic missions. Autonomy is a key enabling factor for robotic exploration. There has been a large gap between autonomy software (at the research level), and software that is ready for insertion into near-term space missions. The MST bridges this gap by providing a simulation framework and a suite of tools for supporting research and maturation of autonomy. MST uses a distributed framework based on the High Level Architecture (HLA) standard. A key feature of the MST framework is the ability to plug in new models to replace existing ones with the same services. This enables significant simulation flexibility, particularly the mixing and control of fidelity level. In addition, the MST provides automatic code generation from robot interfaces defined with the Unified Modeling Language (UML), methods for maintaining synchronization across distributed simulation systems, XML-based robot description, and an environment server. Finally, the MSF supports a number of third-party products including dynamic models and terrain databases. Although the communication objects and some of the simulation components that are provided with this toolkit are specifically designed for terrestrial surface rovers, the MST can be applied to any other domain, such as aerial, aquatic, or space.

Pisaich, Gregory↗

NASA NTRS2008

Ocean Carbon and Biogeochemistry Scoping Workshop on Terrestrial and Coastal Carbon Fluxes in the Gulf of Mexico, St. Petersburg, FL

Despite their relatively small surface area, ocean margins may have a significant impact on global biogeochemical cycles and, potentially, the global air-sea fluxes of carbon dioxide. Margins are characterized by intense geochemical and biological processing of carbon and other elements and exchange large amounts of matter and energy with the open ocean. The area-specific rates of productivity, biogeochemical cycling, and organic/inorganic matter sequestration are high in coastal margins, with as much as half of the global integrated new production occurring over the continental shelves and slopes (Walsh, 1991; Doney and Hood, 2002; Jahnke, in press). However, the current lack of knowledge and understanding of biogeochemical processes occurring at the ocean margins has left them largely ignored in most of the previous global assessments of the oceanic carbon cycle (Doney and Hood, 2002). A major source of North American and global uncertainty is the Gulf of Mexico, a large semi-enclosed subtropical basin bordered by the United States, Mexico, and Cuba. Like many of the marginal oceans worldwide, the Gulf of Mexico remains largely unsampled and poorly characterized in terms of its air-sea exchange of carbon dioxide and other carbon fluxes. The goal of the workshop was to bring together researchers from multiple disciplines studying terrestrial, aquatic, and marine ecosystems to discuss the state of knowledge in carbon fluxes in the Gulf of Mexico, data gaps, and overarching questions in the Gulf of Mexico system. The discussions at the workshop were intended to stimulate integrated studies of marine and terrestrial biogeochemical cycles and associated ecosystems that will help to establish the role of the Gulf of Mexico in the carbon cycle and how it might evolve in the face of environmental change.

Air sea exchanges↗

NASA NTRS2003

Floating Probe Assembly for Measuring Temperature of Water

A floating apparatus denoted a temperature probe aquatic suspension system (TPASS) has been developed for measuring the temperature of an ocean, lake, or other natural body of water at predetermined depths. These types of measurements are used in computer models to relate remotely sensed water-surface temperature to bulkwater temperature. Prior instruments built for the same purpose were found to give inaccurate readings because the apparatuses themselves significantly affected the temperatures of the water in their vicinities. The design of the TPASS is intended to satisfy a requirement to minimize the perturbation of the temperatures to be measured.

Stewart, Randy↗

NASA NTRS2010

Modelling the Future Hydroclimatology of the Lower Fraser River and its Impacts on the Spawning Migration Survival of Sockeye Salmon

Short episodic high temperature events can be lethal for migrating adult Pacific salmon (Oncorhynchus spp.). We downscaled temperatures for the Fraser River, British Columbia to evaluate the impact of climate warming on the frequency of exceeding thermal thresholds associated with salmon migratory success. Alarmingly, a modest 1.0 C increase in average summer water temperature over 100 years (1981-2000 to 2081-2100) tripled the number of days per year exceeding critical salmonid thermal thresholds (i.e. 19.0 C). Refined thresholds for two populations (Gates Creek and Weaver Creek) of sockeye salmon (Oncorhynchus nerka) were defined using physiological constraint models based on aerobic scope. While extreme temperatures leading to complete aerobic collapse remained unlikely under our warming scenario, both populations were increasingly forced to migrate upriver at reduced levels of aerobic performance (e.g. in 80% of future simulations, => 90% of salmon encountered temperatures exceeding population specific thermal optima for maximum aerobic scope; T(sub opt)) = 16.3 C for Gates Creek and T(sub sopt)=14.5 C for Weaver Creek). Assuming recent changes to river entry timing persist, we also predicted dramatic increases in the probability of freshwater mortality for Weaver Creek salmon due to reductions in aerobic, and general physiological, performance (e.g. in 42% of future simulations =>50% of Weaver Creek fish exceeded temperature thresholds associated with 0 - 60% of maximum aerobic scope). Potential for adaptation via directional selection on run-timing was more evident for the Weaver Creek population. Early entry Weaver Creek fish experienced 25% (range: 15 - 31%) more suboptimal temperatures than late entrants, compared with an 8% difference (range: 0 - 17%) between early and late Gates Creek fish. Our results emphasize the need to consider daily temperature variability in association with population-specific differences in behaviour and physiological constraints when forecasting impacts of climate change on migratory survival of aquatic species.

Hague, M. J.↗

NASA NTRS2013

Algae Bioreactor Using Submerged Enclosures with Semi-Permeable Membranes

Methods for producing hydrocarbons, including oil, by processing algae and/or other micro-organisms in an aquatic environment. Flexible bags (e.g., plastic) with CO.sub.2/O.sub.2 exchange membranes, suspended at a controllable depth in a first liquid (e.g., seawater), receive a second liquid (e.g., liquid effluent from a "dead zone") containing seeds for algae growth. The algae are cultivated and harvested in the bags, after most of the second liquid is removed by forward osmosis through liquid exchange membranes. The algae are removed and processed, and the bags are cleaned and reused.

Trent, Jonathan D↗

NASA NTRS2013

Mapping Impervious Surfaces Globally at 30m Resolution Using Global Land Survey Data

Impervious surfaces, mainly artificial structures and roads, cover less than 1% of the world's land surface (1.3% over USA). Regardless of the relatively small coverage, impervious surfaces have a significant impact on the environment. They are the main source of the urban heat island effect, and affect not only the energy balance, but also hydrology and carbon cycling, and both land and aquatic ecosystem services. In the last several decades, the pace of converting natural land surface to impervious surfaces has increased. Quantitatively monitoring the growth of impervious surface expansion and associated urbanization has become a priority topic across both the physical and social sciences. The recent availability of consistent, global scale data sets at 30m resolution such as the Global Land Survey from the Landsat satellites provides an unprecedented opportunity to map global impervious cover and urbanization at this resolution for the first time, with unprecedented detail and accuracy. Moreover, the spatial resolution of Landsat is absolutely essential to accurately resolve urban targets such a buildings, roads and parking lots. With long term GLS data now available for the 1975, 1990, 2000, 2005 and 2010 time periods, the land cover/use changes due to urbanization can now be quantified at this spatial scale as well. In the Global Land Survey - Imperviousness Mapping Project (GLS-IMP), we are producing the first global 30 m spatial resolution impervious cover data set. We have processed the GLS 2010 data set to surface reflectance (8500+ TM and ETM+ scenes) and are using a supervised classification method using a regression tree to produce continental scale impervious cover data sets. A very large set of accurate training samples is the key to the supervised classifications and is being derived through the interpretation of high spatial resolution (approx. 2 m or less) commercial satellite data (Quickbird and Worldview2) available to us through the unclassified archive of the National Geospatial Intelligence Agency (NGA). For each continental area several million training pixels are derived by analysts using image segmentation algorithms and tools and then aggregated to the 30m resolution of Landsat. Here we will discuss the production/testing of this massive data set for Europe, North and South America and Africa, including assessments of the 2010 surface reflectance data. This type of analysis is only possible because of the availability of long term 30m data sets from GLS and shows much promise for integration of Landsat 8 data in the future.

global land survey↗

NASA NTRS2014

Mobilization Protocols for Hybrid Sensors for Environmental AOP Sampling (HySEAS) Observations

The protocols presented here enable the proper mobilization of the latest-generation instruments for measuring the apparent optical properties (AOPs) of aquatic ecosystems. The protocols are designed for the Hybrid Sensors for Environmental AOP Sampling (HySEAS) class of instruments, but are applicable to the community of practice for AOP measurements. The protocols are organized into eleven sections beyond an introductory overview: a) cables and connectors, b) HySEAS instruments, c) platform preparation, d) instrument installation, e) cable installation, f) test deployment, g) test recovery, h) maintenance, i) shipping, j) storage, and k) smallboat operations. Each section concentrates on documenting how to prevent the most likely faults, remedy them should they occur, and accomplishing both with the proper application of a modest set of useful tools. Within the twelve sections, there are Socratic exercises to stimulate thought, and the answers to these exercises appear in Appendix A. Frequently asked questions (FAQs) are summarized in a separate section after the answers to the exercises in Appendix B. For practitioners unfamiliar with the nautical terms used throughout this document plus others likely encountered at sea, an abbreviated dictionary of nautical terms appears in Appendix C. An abbreviated dictionary of radiotelephone terms is presented in Appendix D. To ensure familiarity with many of the tools that are presented, Appendix E provides a description of the tools alongside a thumbnail picture. Abbreviated deployment checklists and cable diagrams are provided in Appendix F. The document concludes with an acknowledgments section, a glossary of acronyms, a definition of symbols, and a list of references.

Mobilizarion↗

NASA NTRS2015

NASA's International Space Station: A Testbed for Planetary Protection Protocol Development

Wherever humans go, they inevitably carry along the critters that live in and on them. Conventional wisdom has long held that it is unlikely those critters could survive the space environment, but in 2007 some microscopic aquatic animals called Tardigrades survived exposure to space and in 2008 Cyanobacteria lived for 548 days outside the ISS. Unlike the Mars rovers that were cleaned once and sent on their way, crew members will provide a constantly regenerating contaminant source. Are we prepared to certify that we can meet forward contamination protocols as we search for life at new destinations? What about the organisms we might reasonably expect a crewed spacecraft to leak or vent? Do we even know what they are? How long might our tiny hitch-hikers survive in close proximity to a warm spacecraft that periodically leaks/vents water or oxygen and how might they mutate with long-duration exposure? How will these contaminants migrate from their source in conditions encountered in space or on other planetary surfaces? This project aims to answer some of these questions by bringing together key stakeholder communities to develop a human forward contamination test, analysis, and integration plan. A system engineering approach to identify the experiments, analysis, and modeling needed to develop the contamination control protocols required will be used as a roadmap to integrate the many different parts of this problem - from launch to landing, living, and working on another planetary surface.

Bell, M. S.↗

NASA NTRS2015

Nasa's International Space Station: A Testbed for Planetary Protection Protocol Development

Bell, M. S.↗

NASA NTRS2015

Gas Supersaturation May Reduce the Survival of Yearling Chinook Salmon in the Lower Columbia River and Ocean Plume

Unusually high flows in the Columbia River in 2011 raised total dissolved gas (TDG) levels in the river above the 120 percent legal limit imposed to prevent harmful impacts to aquatic organisms. This provided a unique opportunity to evaluate the effect on smolt survival. In-river (IR) migrating juvenile yearling Chinook released at Bonneville Dam with acoustic tags during periods when TDG exceeded 120 percent received estimated maximum exposures of 134 TDG. Subsequent daily survival rates in the lower river and plume were reduced by 0.06 per day (SE equals 0.01) and 0.15 per day (SE equals 0.05) relative to IR migrant fish released when TDG was less than 120 percent. Transported smolts (T) released 10-13 kilometers below Bonneville Dam had lower maximum exposure levels (126 percent) and experienced no difference in daily survival rates relative to unexposed smolts. River temperature levels and trends in turbidity and disease prevalence between releases of high and low exposure smolts were not consistent with the observed effects on survival rates. We conclude that smolts may suffer from chronic effects of elevated TDG exposure while migrating through the Columbia River and plume. Consideration should be given to measuring these survival losses in an explicit experimental framework that isolates possible confounding factors.

survival↗

NASA NTRS2015

Coordinated Field Campaigns in Chesapeake Bay and Gulf of Mexico

NASA's GEOstationary Coastal and Air Pollution Events (GEO-CAPE) mission concept recommended by the U.S. National Research Council (2007) focuses on measurements of atmospheric trace gases and aerosols and aquatic coastal ecology and biogeochemistry from geostationary orbit (35,786 km altitude). Two GEO-CAPE-sponsored multi-investigator ship-based field campaigns were conducted to coincide with the NASA Earth Venture Suborbital project DISCOVER-AQ (Deriving Information on Surface conditions from Column and Vertically Resolved Observations Relevant to Air Quality) field campaigns: (1) Chesapeake Bay in July 2011 and (2) northwestern Gulf of Mexico in September 2013. Goal: to evaluate whether GEO-CAPE coastal mission measurement and instrument requirements are optimized to address science objectives while minimizing ocean color satellite sensor complexity, size and cost - critical mission risk reduction activities. NASA continues to support science studies related to the analysis of data collected as part of these coordinated field campaigns and smaller efforts.

GoMex↗

NASA NTRS2015

Optimization of Instrument Requirements for NASAs GEO-CAPE Coastal Mission Concept Based On Sensor Capability And Cost Studies

NASA's GEOstationary Coastal and Air Pollution Events (GEOCAPE) mission concept recommended by the U.S. National Research Council (2007) focuses on measurements of atmospheric trace gases and aerosols and aquatic coastal ecology and biogeochemistry from geostationary orbit (35,786 km altitude). GEO-CAPE is currently in pre-formulation (pre- Phase) A with no established launch date. NASA continues to support science and engineering studies to reduce mission risk. Instrument design lab (IDL) studies were commissioned in 2014 to design and cost two implementations for geostationary ocean color instruments (1) Wide-Angle Spectrometer (WAS) and (2) Filter Radiometer (FR) and (3) a cost scaling study to compare the costs for implementing different science performance requirements.

Geo-CAPE↗

NASA NTRS2013

Discriminating Phytoplankton Functional Types (PFTs) in the Coastal Ocean Using the Inversion Algorithm Phydotax and Airborne Imaging Spectrometer Data

There is a need in the Biological Oceanography community to discriminate among phytoplankton groups within the bulk chlorophyll pool to understand energy flow through ecosystems, to track the fate of carbon in the ocean, and to detect and monitor-for harmful algal blooms (HABs). The ocean color community has responded to this demand with the development of phytoplankton functional type (PFT) discrimination algorithms. These PFT algorithms fall into one of three categories depending on the science application: size-based, biogeochemical function, and taxonomy. The new PFT algorithm Phytoplankton Detection with Optics (PHYDOTax) is an inversion algorithm that discriminates taxon-specific biomass to differentiate among six taxa found in the California Current System: diatoms, dinoflagellates, haptophytes, chlorophytes, cryptophytes, and cyanophytes. PHYDOTax was developed and validated in Monterey Bay, CA for the high resolution imaging spectrometer, Spectroscopic Aerial Mapping System with On-board Navigation (SAMSON - 3.5 nm resolution). PHYDOTax exploits the high spectral resolution of an imaging spectrometer and the improved spatial resolution that airborne data provides for coastal areas. The objective of this study was to apply PHYDOTax to a relatively lower resolution imaging spectrometer to test the algorithm's sensitivity to atmospheric correction, to evaluate capability with other sensors, and to determine if down-sampling spectral resolution would degrade its ability to discriminate among phytoplankton taxa. This study is a part of the larger Hyperspectral Infrared Imager (HyspIRI) airborne simulation campaign which is collecting Airborne Visible/Infrared Imaging Spectrometer (AVIRIS) imagery aboard NASA's ER-2 aircraft during three seasons in each of two years over terrestrial and marine targets in California. Our aquatic component seeks to develop and test algorithms to retrieve water quality properties (e.g. HABs and river plumes) in both marine and in-land water bodies. Results presented are from the 10 April 2013 overflight of the Monterey Bay region and focus primarily on the first objective - sensitivity to atmospheric correction. On-going and future work will continue to evaluate if PHYDOTax can be applied to historical (SeaWiFS and MERIS), existing (MODIS, VIIRS, and HICO), and future (PACE, GEO-CAPE, and HyspIRI) satellite sensors. Demonstration of cross-platform continuity may aid in calibration and validation efforts of these sensors.

Biological Oceanography↗

NASA NTRS2015

Is There Ecological Information in Optical Polarization Data?

Optical linear polarization? In remote sensing it's due to specular reflection. The first surface that incident light encounters - a smooth water surface or the waxy first surface of a leaf's cuticle, if it's even somewhat smooth (i.e. shiny) - will specularly reflect and linearly polarize the incident light. We provide three examples of the types of ecological information contained in remotely sensed optical linear polarization measurements. Remove the surface reflection to better see the interior. The linearly polarized light reflected by leaf surfaces contains no information about cellular pigments, metabolites, or water contained in the leaf interiors of a plant canopy, because it never enters the leaf interior to interact with them. Thus, for purposes of remotely sensing the leaf interiors of a plant canopy, the linearly polarized light should be subtracted from the total reflected light, because including it would add noise to the measurement. In particular 'minus specular' vegetation indices should allow improved monitoring of a plant canopy's physiological processes. Estimate plant development stage and yield. Wheat and sorghum grain heads, following emergence, rapidly extend upward and very quickly tower over nearby leaves, partially blocking our view of the sunlight reflected by those leaf surfaces. The resulting decrease in the amount of surface reflected and polarized sunlight, if monitored over time, potentially allows per-field estimates of the dates of the heading and flowering development stages to be interleaved with weather data in models, which is key to better estimating per-field grain yield. Similar polarization changes may occur in other grasses, such as oats, barley, corn and rice, each a crop so widely grown that it potentially affects climate at the regional scale. Wetlands Mapping. The sunlight specularly reflected by surface waters is blindingly bright, spectrally flat and polarized - all of which telegraphs that the ground area is inundated. Inundated soils exchange methane with the atmosphere; non-inundated soils, carbon dioxide. Aquatic plants growing through the water surface pipe the soil-produced methane via the stomata to the atmosphere, enhancing exchanges rates by factors of 10-20 compared to ebullition (bubbling) or diffusion through the water column to the atmosphere. Thus, mapping wetland areas into three community types - inundated areas with emergent vegetation, open water and uplands - provides potentially key information to water, carbon and energy budgets at landscape to global scales.

Water↗

NASA NTRS2016

Linking Land Use Changes to Surface Water Quality Variability in Lake Victoria: Some Insights From Remote Sensing (GC41B-1101)

Various land use changes driven by urbanization, conversion of grasslands and woodlands into farmlands, intensification of agricultural practices, deforestation, land fragmentation and degradation are taking place in Africa. In Kenya, agriculture is the main driver of land use conversions. The impacts of these land use changes are observable in land cover maps, and eventually in the hydrological systems. Reduction or change of natural vegetation cover types increases the speed of surface runoff and reduces water and nutrient retention capacities. This can lead to high nutrient inputs into lakes, resulting in eutrophication, siltation and infestation of floating aquatic vegetation. To assess if changes in land use could be contributing to increased phytoplankton blooms and sediment loads into Lake Victoria, we analyzed land use land cover data from Landsat, as well as surface chlorophyll-a and total suspended matter from MODIS-Aqua sensor.

water quality↗

NASA NTRS2015

Crosscutting Airborne Remote Sensing Technologies for Oil and Gas and Earth Science Applications

Airborne imaging spectroscopy has evolved dramatically since the 1980s as a robust remote sensing technique used to generate 2-dimensional maps of surface properties over large spatial areas. Traditional applications for passive airborne imaging spectroscopy include interrogation of surface composition, such as mapping of vegetation diversity and surface geological composition. Two recent applications are particularly relevant to the needs of both the oil and gas as well as government sectors: quantification of surficial hydrocarbon thickness in aquatic environments and mapping atmospheric greenhouse gas components. These techniques provide valuable capabilities for petroleum seepage in addition to detection and quantification of fugitive emissions. New empirical data that provides insight into the source strength of anthropogenic methane will be reviewed, with particular emphasis on the evolving constraints enabled by new methane remote sensing techniques. Contemporary studies attribute high-strength point sources as significantly contributing to the national methane inventory and underscore the need for high performance remote sensing technologies that provide quantitative leak detection. Imaging sensors that map spatial distributions of methane anomalies provide effective techniques to detect, localize, and quantify fugitive leaks. Airborne remote sensing instruments provide the unique combination of high spatial resolution (<1 m) and large coverage required to directly attribute methane emissions to individual emission sources. This capability cannot currently be achieved using spaceborne sensors. In this study, results from recent NASA remote sensing field experiments focused on point-source leak detection, will be highlighted. This includes existing quantitative capabilities for oil and methane using state-of-the-art airborne remote sensing instruments. While these capabilities are of interest to NASA for assessment of environmental impact and global climate change, industry similarly seeks to detect and localize leaks of both oil and methane across operating fields. In some cases, higher sensitivities desired for upstream and downstream applications can only be provided by new airborne remote sensing instruments tailored specifically for a given application. There exists a unique opportunity for alignment of efforts between commercial and government sectors to advance the next generation of instruments to provide more sensitive leak detection capabilities, including those for quantitative source strength determination.

hyperspectral↗

NASA NTRS2016

Xeropreservation of Functionalized Lipid Biomarkers in Hyperarid Soils in the Atacama Desert

Our understanding of long-term organic matter preservation comes mostly from studies in aquatic systems. In contrast, taphonomic processes in extremely dry environments are relatively understudied and are poorly understood. We investigated the accumulation and preservation of lipid biomarkers in hyperarid soils in the Yungay region of the Atacama Desert. Lipids from seven soil horizons in a 2.5 m vertical profile were extracted and analyzed using GC-MS and LC-MS. Diagnostic functionalized lipids and geolipids were detected and increased in abundance and diversity with depth. Deeper clay units contain fossil organic matter (radiocarbon dead) that has been protected from rainwater since the onset of hyperaridity. We show that these clay units contain lipids in an excellent state of structural preservation with functional groups and unsaturated bonds in carbon chains. This indicates that minimal degradation of lipids has occurred in these soils since the time of their deposition between greater than 40,000 and 2 million years ago. The exceptional structural preservation of biomarkers is likely due to the long-term hyperaridity that has minimized microbial and enzymatic activity, a taphonomic process we term xeropreservation (i.e., preservation by drying). The degree of biomarker preservation allowed us to reconstruct major changes in ecology in the Yungay region that reflect a shift in hydrological regime from wet to dry since the early Quaternary. Our results suggest that hyperarid environments, which comprise 7.5 percent of the continental landmass, could represent a rich and relatively unexplored source of paleobiological informationon Earth.

Hyperarid↗

NASA NTRS2018

NeMO-Net & Fluid Lensing: The Neural Multi-Modal Observation & Training Network for Global Coral Reef Assessment Using Fluid Lensing Augmentation of NASA EOS Data

We present preliminary results from NASA NeMO-Net, the first neural multi-modal observation and training network for global coral reef assessment. NeMO-Net is an open-source deep convolutional neural network (CNN) and interactive active learning training software in development which will assess the present and past dynamics of coral reef ecosystems. NeMO-Net exploits active learning and data fusion of mm-scale remotely sensed 3D images of coral reefs captured using fluid lensing with the NASA FluidCam instrument, presently the highest-resolution remote sensing benthic imaging technology capable of removing ocean wave distortion, as well as hyperspectral airborne remote sensing data from the ongoing NASA CORAL mission and lower-resolution satellite data to determine coral reef ecosystem makeup globally at unprecedented spatial and temporal scales. Aquatic ecosystems, particularly coral reefs, remain quantitatively misrepresented by low-resolution remote sensing as a result of refractive distortion from ocean waves, optical attenuation, and remoteness. Machine learning classification of coral reefs using FluidCam mm-scale 3D data show that present satellite and airborne remote sensing techniques poorly characterize coral reef percent living cover, morphology type, and species breakdown at the mm, cm, and meter scales. Indeed, current global assessments of coral reef cover and morphology classification based on km-scale satellite data alone can suffer from segmentation errors greater than 40%, capable of change detection only on yearly temporal scales and decameter spatial scales, significantly hindering our understanding of patterns and processes in marine biodiversity at a time when these ecosystems are experiencing unprecedented anthropogenic pressures, ocean acidification, and sea surface temperature rise. NeMO-Net leverages our augmented machine learning algorithm that demonstrates data fusion of regional FluidCam (mm, cm-scale) airborne remote sensing with global low-resolution (m, km-scale) airborne and spaceborne imagery to reduce classification errors up to 80% over regional scales. Such technologies can substantially enhance our ability to assess coral reef ecosystems dynamics.

satellite data↗