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NASA NTRS2019

Input Constrained M-MRAC for Multirotors Operating in an Urban Environment

The paper presents a modified model reference adaptive control (M-MRAC) for multi-input multi-output nonlinear dynamical systems with time varying parametric uncertainties and bounded external disturbances. It uses a prediction model to rapidly generate adaptive estimates of the system's uncertainties with adjustable errors that converge to a small neighborhood of the origin. A sufficient condition is derived to specify the region of attraction in the space of initialization errors, design parameters and external commends. The approach is applied to thrust controlled multi-rotor air vehicles operating in an urban environment. It is shown that the designed controller can provide a good tracking of a given trajectory in the unknown urban wind field, assuming that the maximum thrust generated by the rotors is known. The performance of the algorithms are demonstrated in simulations.

Stepanyan, Vahram↗

NASA NTRS2008

Using Black Hole Mergers to Explore Structure Formation

Observations of gravitational waves from massive black hole mergers will open a new window into the era of structure formation in the early universe. Past efforts have concentrated on calculating merger rates using different physical assumptions, resulting in merger rate estimates that span a wide range (0.1 - 1 0A4 mergers/year). We develop a semi-analytical, phenomenological model of massive black hole mergers that includes plausible combinations of several physical parameters, which we then turn around to determine how well observations with the Laser Interferometer Space Antenna (LISA) will be able to enhance our understanding of the universe during the critical z approx. 5 - 30 epoch. Our approach involves generating synthetic LISA observable data (total BH masses, BH mass ratios, redshifts, merger rates), which are then analyzed using a Markov Chain Monte Carlo method, thus finding constraints for the physical parameters of the mergers. We find that our method works well at estimating merger parameters and that the number of merger events is a key discriminant among models, therefore making our method robust against observational uncertainties. Our approach can also be extended to more physically-driven models and more general problems in cosmology.

Alicea-Munoz, E.↗

NASA NTRS2009

Improved Temperature Sounding and Quality Control Methodology Using AIRS/AMSU Data: The AIRS Science Team Version 5 Retrieval Algorithm

This paper describes the AIRS Science Team Version 5 retrieval algorithm in terms of its three most significant improvements over the methodology used in the AIRS Science Team Version 4 retrieval algorithm. Improved physics in Version 5 allows for use of AIRS clear column radiances in the entire 4.3 micron CO2 absorption band in the retrieval of temperature profiles T(p) during both day and night. Tropospheric sounding 15 micron CO2 observations are now used primarily in the generation of clear column radiances .R(sub i) for all channels. This new approach allows for the generation of more accurate values of .R(sub i) and T(p) under most cloud conditions. Secondly, Version 5 contains a new methodology to provide accurate case-by-case error estimates for retrieved geophysical parameters and for channel-by-channel clear column radiances. Thresholds of these error estimates are used in a new approach for Quality Control. Finally, Version 5 also contains for the first time an approach to provide AIRS soundings in partially cloudy conditions that does not require use of any microwave data. This new AIRS Only sounding methodology, referred to as AIRS Version 5 AO, was developed as a backup to AIRS Version 5 should the AMSU-A instrument fail. Results are shown comparing the relative performance of the AIRS Version 4, Version 5, and Version 5 AO for the single day, January 25, 2003. The Goddard DISC is now generating and distributing products derived using the AIRS Science Team Version 5 retrieval algorithm. This paper also described the Quality Control flags contained in the DISC AIRS/AMSU retrieval products and their intended use for scientific research purposes.

Susskind, Joel↗

DOE OSTI2022

Dynamic calibration of differential equations using machine learning, with application to turbulence models

We present a methodology for calibration of parametric ordinary and partial differential equation models, using off-the-shelf software for back-propagation in Neural Networks (NN). As a prototypical example, we consider calibration of a Reynolds-averaged Navier-Stokes (RANS) turbulence closure model, against ground truth data from direct numerical simulations (DNS) of two different turbulent flows. Numerical time integration is represented as a custom NN, where only the RANS model parameters are trainable. A loss function is defined to quantify the mismatch between the NN prediction and the ground truth over a predefined, finite time integration window. This loss function is then minimized using a gradient descent method utilizing the back-propagation algorithm. Furthermore, this dynamic approach to training is to be contrasted with a static approach, wherein a least square regression estimate for parameters is obtained in the limit of an infinitesimal time integration window. In a first test of static and dynamic approaches against ground truth data generated by the model, the former proves to be significantly faster and more accurate than the latter at recovering the parameters. When both calibration approaches are tested against DNS data, for which it is known that the model cannot achieve a perfect fit, the static approach yields a good prediction only for short times, while the dynamic approach results in physical and stable predictions over the entire integration window. After optimization of the dynamic approach for time step, spatial resolution, stability, and physics-based constraints, we obtain a 50% improvement of outcomes over those obtained from the existing, manually calibrated set of parameters, demonstrating the merits of this systematic and automated procedure.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2019

110th Anniversary: Microkinetic Modeling of the Vapor Phase Upgrading of Biomass-Derived Oxygenates

Bio-oil produced from fast pyrolysis of biomass is a complex mixture of more than 200 compounds, including oxygenates and acids. As these species are highly undesirable in fuels, catalytic upgrading of biomass pyrolysis product vapors, also known as catalytic fast pyrolysis, is performed to upgrade the vapors to valuable fuels and chemicals. This work presents a detailed microkinetic model, composed of elementary steps, of the catalytic upgrading of acetic acid and acetone, two common oxygenates present in bio-oil. An automated network generator was utilized to construct a reaction network composed of 580 unique species and 2160 unique reactions. The kinetic parameters for each reaction in the network were estimated using transition state theory, the Evans-Polanyi relationship, and thermodynamic data. The resulting mechanistic model is able to describe experimental data presented in the literature for the transformation of acetic acid and acetone on HZSM-5 in a fixed-bed reactor, which is modeled as a plug-flow reactor. Additionally, the model solutions reveal vital information regarding the mechanism by which acetic acid and acetone are upgraded to valuable fuels and chemicals. In the first phase of the mechanism, acetic acid is converted to acetone via acylium ion addition to acetic acid; this is followed by decarboxylation of acetoacetic acid. The second phase is dominated by the self-aldol condensation of acetone, which is shown to occur predominantly through the keto form of acetone rather than the enol form, and subsequent deoxygenation reactions leading to olefins and aromatics. Finally, net rate analysis shows that aromatics are primarily formed via a pathway including aldol condensation of mesityl oxide, whereas olefins are produced from the addition of isobutene and subsequent cracking.

09 BIOMASS FUELS↗

DOE OSTI2025

Informed total-error-minimizing priors: Interpretable cosmological parameter constraints despite complex nuisance effects

While Bayesian inference techniques are standard in cosmological analyses, it is common to interpret resulting parameter constraints with a frequentist intuition. This intuition can fail, for example, when marginalizing high-dimensional parameter spaces onto subsets of parameters, because of what has come to be known as projection effects or prior volume effects. We present the method of informed total-error-minimizing (ITEM) priors to address this problem. An ITEM prior is a prior distribution on a set of nuisance parameters, such as those describing astrophysical or calibration systematics, intended to enforce the validity of a frequentist interpretation of the posterior constraints derived for a set of target parameters (e.g., cosmological parameters). Our method works as follows. For a set of plausible nuisance realizations, we generate target parameter posteriors using several different candidate priors for the nuisance parameters. We reject candidate priors that do not accomplish the minimum requirements of bias (of point estimates) and coverage (of confidence regions among a set of noisy realizations of the data) for the target parameters on one or more of the plausible nuisance realizations. Of the priors that survive this cut, we select the ITEM prior as the one that minimizes the total error of the marginalized posteriors of the target parameters. As a proof of concept, we applied our method to the density split statistics measured in Dark Energy Survey Year 1 data. We demonstrate that the ITEM priors substantially reduce prior volume effects that otherwise arise and that they allow for sharpened yet robust constraints on the parameters of interest.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1993

Investigation for improving Global Positioning System (GPS) orbits using a discrete sequential estimator and stochastic models of selected physical processes

GEODYNII is a conventional batch least-squares differential corrector computer program with deterministic models of the physical environment. Conventional algorithms were used to process differenced phase and pseudorange data to determine eight-day Global Positioning system (GPS) orbits with several meter accuracy. However, random physical processes drive the errors whose magnitudes prevent improving the GPS orbit accuracy. To improve the orbit accuracy, these random processes should be modeled stochastically. The conventional batch least-squares algorithm cannot accommodate stochastic models, only a stochastic estimation algorithm is suitable, such as a sequential filter/smoother. Also, GEODYNII cannot currently model the correlation among data values. Differenced pseudorange, and especially differenced phase, are precise data types that can be used to improve the GPS orbit precision. To overcome these limitations and improve the accuracy of GPS orbits computed using GEODYNII, we proposed to develop a sequential stochastic filter/smoother processor by using GEODYNII as a type of trajectory preprocessor. Our proposed processor is now completed. It contains a correlated double difference range processing capability, first order Gauss Markov models for the solar radiation pressure scale coefficient and y-bias acceleration, and a random walk model for the tropospheric refraction correction. The development approach was to interface the standard GEODYNII output files (measurement partials and variationals) with software modules containing the stochastic estimator, the stochastic models, and a double differenced phase range processing routine. Thus, no modifications to the original GEODYNII software were required. A schematic of the development is shown. The observational data are edited in the preprocessor and the data are passed to GEODYNII as one of its standard data types. A reference orbit is determined using GEODYNII as a batch least-squares processor and the GEODYNII measurement partial (FTN90) and variational (FTN80, V-matrix) files are generated. These two files along with a control statement file and a satellite identification and mass file are passed to the filter/smoother to estimate time-varying parameter states at each epoch, improved satellite initial elements, and improved estimates of constant parameters.

Goad, Clyde C.↗

NASA NTRS2000

An Approach to Experimental Design for the Computer Analysis of Complex Phenomenon

The ability to make credible system assessments, predictions and design decisions related to engineered systems and other complex phenomenon is key to a successful program for many large-scale investigations in government and industry. Recently, many of these large-scale analyses have turned to computational simulation to provide much of the required information. Addressing specific goals in the computer analysis of these complex phenomenon is often accomplished through the use of performance measures that are based on system response models. The response models are constructed using computer-generated responses together with physical test results where possible. They are often based on probabilistically defined inputs and generally require estimation of a set of response modeling parameters. As a consequence, the performance measures are themselves distributed quantities reflecting these variabilities and uncertainties. Uncertainty in the values of the performance measures leads to uncertainties in predicted performance and can cloud the decisions required of the analysis. A specific goal of this research has been to develop methodology that will reduce this uncertainty in an analysis environment where limited resources and system complexity together restrict the number of simulations that can be performed. An approach has been developed that is based on evaluation of the potential information provided for each "intelligently selected" candidate set of computer runs. Each candidate is evaluated by partitioning the performance measure uncertainty into two components - one component that could be explained through the additional computational simulation runs and a second that would remain uncertain. The portion explained is estimated using a probabilistic evaluation of likely results for the additional computational analyses based on what is currently known about the system. The set of runs indicating the largest potential reduction in uncertainty is then selected and the computational simulations are performed. Examples are provided to demonstrate this approach on small scale problems. These examples give encouraging results. Directions for further research are indicated.

Rutherford, Brian↗

NASA NTRS2007

An Implanted, Stimulated Muscle Powered Piezoelectric Generator

A totally implantable piezoelectric generator system able to harness power from electrically activated muscle could be used to augment the power systems of implanted medical devices, such as neural prostheses, by reducing the number of battery replacement surgeries or by allowing periods of untethered functionality. The features of our generator design are no moving parts and the use of a portion of the generated power for system operation and regulation. A software model of the system has been developed and simulations have been performed to predict the output power as the system parameters were varied within their constraints. Mechanical forces that mimic muscle forces have been experimentally applied to a piezoelectric generator to verify the accuracy of the simulations and to explore losses due to mechanical coupling. Depending on the selection of system parameters, software simulations predict that this generator concept can generate up to approximately 700 W of power, which is greater than the power necessary to drive the generator, conservatively estimated to be 50 W. These results suggest that this concept has the potential to be an implantable, self-replenishing power source and further investigation is underway.

Lewandowski, Beth↗

NASA NTRSDate not supplied

Simulations of the Modular Axisymmetric Scramjet Test Rig Under Reacting Flow Conditions

Simulations of the Air Force Research Laboratory (AFRL) Modular Axisymmetric Scramjet Test Rig (MASTeR) are presented. MASTeR is a parametric test article capable of investigating various scramjet cavity flameholder designs and fueling strategies with the goal to characterize and optimize flameholding capability. In the current work, three cavity aspect ratios, and two fueling strategies (upstream and in-cavity) with ethylene at a nominal facility pressure and temperature condition are evaluated. The reacting simulations are performed, and the resulting flow characteristics are discussed. For each configuration and fueling strategy, cavity residence time, entrainment rate, and fuel-air equivalence ratio are computed. The MASTeR geometry is defined in Engineering Sketch Pad (ESP) and the simulations use a sketch-to-solution (S2S) automated unstructured grid adaptation tool in VULCAN-CFD. This tool automatically generates a simulation grid from the ESP geometry and systematically adapts it to the numerical solution based on the Hessian error estimate of a specified flow field parameter. Reynolds averaged simulations (RAS) are used with a two-equation linear eddy viscosity and diffusivity model. The resulting database can be compared with the experimental data as those become available, and explored to develop models for cavity performance for scramjet propulsion design applications.

hypersonics↗

NASA NTRSDate not supplied

Simulations of the Modular Axisymmetric Scramjet Test Rig Under Reacting Flow Conditions

Simulations of the Air Force Research Laboratory (AFRL) Modular Axisymmetric Scramjet Test Rig (MASTeR) are presented. MASTeR is a parametric test article capable of investigating various scramjet cavity flameholder designs and fueling strategies with the goal to characterize and optimize flameholding capability. In the current work, three cavity aspect ratios, three depths, and two fueling strategies (upstream and in-cavity) with ethylene at a nominal facility pressure and temperature conditions are evaluated. The simulations are performed for mixing-only and reacting flows, and the resulting flow characteristics are compared. For each configuration and fueling strategy, cavity residence time, entrainment rate, and fuel-air equivalence ratio are computed. The MASTeR geometry is defined in the Engineering Sketch Pad (ESP) and the simulations use a sketch-to-solution (S2S) automated unstructured grid adaptation tool in VULCAN-CFD. This tool automatically generates a simulation grid from the ESP geometry and systematically adapts it to the numerical solution based on the Hessian error estimate of a specified flow field parameter. Reynolds averaged simulations (RAS) are used with typical two-equation linear eddy viscosity and diffusivity model. The resulting database can be compared with the experimental data as those becomes available and explored to develop models for cavity performance for scramjet propulsion design applications.

hypersonics↗

DOE OSTI2018

Experimental Validation of Numerical Simulations of a New-Generation NiTi Endodontic File Under Bending

The superelasticity of NiTi shape memory alloy has been used in endodontics since the 1990s. To study the mechanical behavior of endodontic instruments, a traditional approach consists in experimental investigations. However, finite element analysis constitutes another way to assess their mechanical behavior and to facilitate their design. The main aim of this study is to compare experimental and numerical bending results on different structures (NiTi wire, spreader, and instruments) to estimate the reliability of the finite element simulations. These investigations were carried out as follows. Firstly, experimental material parameters identification was performed using NiTi wires. These parameters were implemented in an appropriate NiTi model. Bending was numerically applied to the meshed structures generated by the finite element method. Experimental tests were performed on real structures under bending, with exactly the same loading, in order to compare experimental and numerical results. These results were in good agreement for each of the considered structures. This enabled the validation of the simulation results and the use of simulations to design new endodontic instruments.

36 MATERIALS SCIENCE↗

DOE OSTI2021

The implications of uncertain renewable resource potentials for global wind and solar electricity projections

Studies exploring long-term energy system transitions rely on resource cost-supply curves derived from estimates of renewable energy (RE) potentials to generate wind and solar power projections. However, estimates of RE potentials are characterized by large uncertainties stemming from methodological assumptions that vary across studies, including factors such as the suitability of land and the performance and configuration of technology. Based on a synthesis of modeling approaches and parameter values used in prior studies, we explore the implications of these uncertain assumptions for onshore wind and solar photovoltaic electricity generation projections globally using the Global Change Analysis Model. We show that variability in parametric assumptions related to land use (e.g. land suitability) are responsible for the most substantial uncertainty in both wind and solar generation projections. Additionally, assumptions about the average turbine installation density and turbine technology are responsible for substantial uncertainty in wind generation projections. Under scenarios that account for climate impacts on wind and solar energy, we find that these parametric uncertainties are far more significant than those emerging from differences in climate models and scenarios in a global assessment, but uncertainty surrounding climate impacts (across models and scenarios) have significant effects regionally, especially for wind. Our analysis suggests the need for studies focusing on long-term energy system transitions to account for this uncertainty.

14 SOLAR ENERGY↗

DOE OSTI2019

Large covariance matrices: accurate models without mocks

Abstract Covariance matrix estimation is a persistent challenge for cosmology. We focus on a class of model covariance matrices that can be generated with high accuracy and precision, using a tiny fraction of the computational resources that would be required to achieve comparably precise covariance matrices using mock catalogues. In previous work, the free parameters in these models were determined using sample covariance matrices computed using a large number of mocks, but we demonstrate that those parameters can be estimated consistently and with good precision by applying jackknife methods to a single survey volume. This enables model covariance matrices that are calibrated from data alone, with no reference to mocks.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2020

Optical Characterization of the Keck Array and BICEP3 CMB Polarimeters from 2016 to 2019

The BICEP/Keck experiment (BK) is a series of small-aperture refracting telescopes observing degree-scale cosmic microwave background (CMB) polarization from the South Pole in search of a primordial B-mode signature. This B-mode signal arises from primordial gravitational waves interacting with the CMB and has amplitude parametrized by the tensor-to-scalar ratio r. Since 2016, BICEP3 and the Keck Array have been observing with 4800 total antenna-coupled transition-edge sensor detectors, with frequency bands spanning 95, 150, 220, and 270 GHz. Here we present the optical performance of these receivers from 2016 to 2019, including far-field beams measured in situ with an improved chopped thermal source and instrument spectral response measured with a field-deployable Fourier transform spectrometer. As a pair differencing experiment, an important systematic that must be controlled is the differential beam response between the co-located, orthogonally polarized detectors. We generate per-detector far-field beam maps and the corresponding differential beam mismatch that is used to estimate the temperature-to-polarization leakage in our CMB maps and to give feedback on detector and optics fabrication. The differential beam parameters presented here were estimated using improved low-level beam map analysis techniques, including efficient removal of non-Gaussian noise as well as improved spatial masking. These techniques help minimize systematic uncertainty in the beam analysis, with the goal of constraining the bias on r induced by temperature-to-polarization leakage to be subdominant to the statistical uncertainty. This is essential as we progress to higher detector counts in the next generation of CMB experiments.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS2009

Using Black Hole Mergers to Explore Structure Formation

Observations of gravitational waves from massive black hole mergers will open a new window into the era of structure formation in the early universe. Past efforts have concentrated on calculating merger rates using different physical assumptions, resulting in merger rate estimates that span a wide range (0.1 - 10(exp 4) mergers/year). We develop a semi-analytical, phenomenological model of massive black hole mergers that includes plausible combinations of several physical parameters, which we then turn around to determine how well observations with the Laser Interferometer Space Antenna (LISA) will be able to enhance our understanding of the universe during the critical z approximately equal to 5-30 epoch. Our approach involves generating synthetic LISA observable data (total BH masses, BH mass ratios, redshifts, merger rates), which are then analyzed using a Markov Chain Monte Carlo method, thus finding constraints for the physical parameters of the mergers. We find that our method works well at estimating merger parameters and that the number of merger events is a key discriminant among models, therefore making our method robust against observational uncertainties. Our approach can also be extended to more physically-driven models and more general problems in cosmology. This work is supported in part by the Cooperative Education Program at NASA/GSFC.

Alicea-Munoz, E.↗

DOE OSTI2018

Mapping Soil Cation‐Exchange Capacity using Bayesian Modeling and Proximal Sensors at the Field Scale

Core Ideas A Bayesian inference approach (INLA‐SPDE) was used to map topsoil and subsoil CEC. DEM, gamma‐ray spectrometer and EM induction data were combined to map CEC. Posterior marginal distributions of the model parameters and responses were estimated. Gamma‐ray data performed best in the topsoil, followed by DUALEM421S and elevation. Elevation data performed best in the subsoil, followed by gamma‐ray and DUALEM421S. Cation exchange capacity (CEC) affects soil fertility, acidity, and structural resilience. This is particularly the case in sugarcane growing areas of Australia because the soil there is sandy (>60%), strongly acidic (pH < 5.5), and strongly sodic (exchangeable sodium percentage [ESP] > 15%). Unfortunately, obtaining information on CEC at the field extent is time‐consuming and expensive. Here, we used a digital soil mapping approach to add value to limited (40) topsoil (0–0.3 m) and subsoil (0.6–0.9 m) CEC information. We first collected proximally sensed ancillary data from three sources, including a digital elevation model (DEM), γ‐ray (γ‐ray) spectrometer (RS700) and electromagnetic (EM) induction instruments. We then use a Bayesian inference approach (Integrated Nested Laplace Approximation with Stochastic Partial Differential Equation, INLA‐SPDE) implemented in R software to model the CEC and ancillary data. Accuracy (RMSE), bias (ME), and concordance (Lin's) of models were also generated from the different sources of ancillary data, either in combination or alone. We concluded, overall, that the INLA–SPDE approach could provide estimations of the posterior marginal distributions of the model parameters as well as the model responses as reported by other researchers. We also concluded that using the ancillary data sources in combination was most accurate (e.g., RMSE = 0.72) to predict CEC, least biased (e.g., ME = 0.07) and had the highest concordance (e.g., Lin's = 0.69) in both the topsoil and subsoil than using the ancillary data alone. The best ancillary data, when used alone for mapping CEC in the topsoil, was γ‐ray spectrometry, followed by EM data and elevation. For subsoil CEC, it was elevation, followed by γ‐ray spectrometry and then soil electrical conductivity (EC a ) data. The maps of the credibility interval (CI) indicated that better predictions were achieved in the topsoil and indicated where improvements in prediction could be achieved in the subsoil.

Li, Nan↗

DOE OSTI2025

Videos, photos, and AI-derived grain size data associated with “High-throughput AI Video Surveys Enable Reproducible Multiscale Sediment Size Mapping, with Implications for Hydrobiogeochemical Parameterization”

NOTE: The manuscript associated with this data package is currently in review. The data may be revised based on reviewer feedback. Upon manuscript acceptance, this data package will be updated with the final dataset and additional metadata. This data package is associated with the manuscript “High-throughput AI Video Surveys Enable Reproducible Multiscale Sediment Size Mapping, with Implications for Hydrobiogeochemical Parameterization” under review. This data package includes five data types: 1) raw photos and videos from drone survey and walking smartphone surveys; 2) images derived from raw videos; 3) manual labeling of reference scales; 4) metadata for all images and photo resolution derived from artificial intelligence (AI) models or manual labels, 5) grain size data obtained from AI models for all photos, 6) metadata and grain size data after quality control, 7) summaries of sample efficiency for all data, and 8) computational fluid dynamics (CFD) data used to support hydro-biogeochemical (HBGC) parameter estimation. Such data is used to 1) demonstrate significant improvements in accuracy, efficiency, and quality control for grain size data collection with the help of AI models, 2) study the spatial heterogeneity of grain size and observation reproducibility based on tens of thousands of data points generated by the AI models, and 3) evaluate the impacts of grain size heterogeneity on key HBGC parameters across sediment-to-reach and hourly-to-yearly scales. In particular, the data package contains 116 folders and 179696 files. The files include 41 videos in .mov format, 64047 photos in .jpg format, 13541 video-derived photos in .png format, 12747 segmentation mask data in .tif format, 12747 segmentation data in .json format, 24771 .csv files that with metadata and grain size for each individual photo as well as water depth and velocity data from CFD and observation, 51791 .txt files of raw AI predicted labels, and 11 flight record data in .srt format. The summary for all metadata and grain size statistics information is included in “Scales_V3_NG.csv” and “Statistics_V3_NG.csv”. The summary for data that pass data quality control (QC) level 0-2 is included in “QCStatistics_V3_NG.csv”. The QC level 0 represents photos whose photo resolution is positive, excluding photos that miss reference scale. The QC level 1 means reference scale circularity uncertainty is less than 5% for smartphone images while representing photo resolution is larger than 0.44 mm/pixel for drone images. The QC level 2 means excluding photos whose grain number is less than 100, a minimum number of grains recommended by classic literature. The summary for each video’s name, length, frame rates, survey area, grain number, survey efficiency, etc. can be found in “QCSummary_V3_NG.csv”. The summary for site name, GPS coordinates, and number of images at each site can be found in “SitesSummary_V3_*.csv” files. Overall computational efficiency summary is reported in Table 4 of accompanying manuscript. Additionally, the nitrate concentration data used in this work was downloaded from an existing dataset published on ESS-DIVE (Boat-Dragged Sensor Hanford Reach.csv; Conner A. et al., 2020). We thank the United States Forest Service, Washington Department of Fish and Wildlife, Washington Department of Natural Resources, Cowiche Canyon Conservatory, Port of Benton, and the Confederated Tribes and Bands of the Yakama Nation for access to field locations where the data were collected. We also thank the Yakama Nation Tribal Council and Yakama Nation Fisheries for working with us to facilitate data collection and optimization of data usage according to their values and worldview.

54 ENVIRONMENTAL SCIENCES↗