Search NASA⌕ Search

SEARCH · Search NASA

Results for “distance map”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 325 records · Page 18

Digital Particle Image Velocimetry (DPIV) Used for Space-Time Correlations in Nozzle Flow

An optical measurement technique known as Digital Particle Image Velocimetry (DPIV) was used previously to characterize the first- and second-order statistical properties of both cold and hot jet flows from externally mixed nozzles in NASA Glenn Research Center's Nozzle Acoustic Test Rig. In this technique, an electronic camera records particles entrained in a flow as a laser light sheet is pulsed at two instances in time. Correlation processing of the recorded particle image pairs yields the two-component velocity field across the imaged plane of the flow. The information acquired using DPIV is being used to improve our understanding of the decay of turbulence in jet flows-a critical element for understanding the acoustic properties of the flow. Recently, two independent DPIV systems were installed in Glenn's Small Hot Jet Acoustic Rig, enabling multiplane correlations in time and space. The data were collected over a range of different Mach numbers and temperature ratios. DPIV system 1 was fixed to a large traverse rig, and DPIV system 2 was mounted on a small traverse system mounted on the large traverse frame. The light sheets from the two DPIV systems were aligned to lie in the same axial plane, with DPIV system 2 being independently traversed downstream along the flow direction. For each measurement condition, the DPIV systems were started at a fully overlapping orientation. A polarization separation technique was used to avoid cross-talk between the two systems. Then, the DPIV systems fields were shifted axially apart, in successively increasing steps. The downstream DPIV system 2 was triggered at a short time delay after the upstream DPIV system 1, where the time delay was proportional to the convective flow velocity in the shear layer of the jet flow and the axial separation of the two DPIV systems. The acquired data were processed to obtain the instantaneous velocity vector maps over a range of time delays and spatial separations. The velocity fields from the different DPIV systems were then cross-correlated to determine the degree of correlation remaining in the flow as the downstream convection distance was increased. The new data provide Lagrangian measurements of the convective turbulent structures in the shear layer of an exhaust nozzle. These measurements, obtained in both cold and hot flows, will be used to validate and correct models for space-time velocity correlations-long a missing key to predicting jet noise.

Wernet, Mark P.↗

Unsupervised Change Detection for Space Habitats Using 3D Point Clouds

This work presents an algorithm for scene change detection from point clouds to enable autonomous robotic caretaking in future space habitats. Autonomous robotic systems will help maintain future deep-space habitats, such as the Gateway space station, which will be uncrewed for extended periods. Existing scene analysis software used on the International Space Station (ISS) relies on manually-labeled images for detecting changes. In contrast, the algorithm presented in this work uses raw, unlabeled point clouds as inputs. The algorithm first applies modified Expectation-Maximization Gaussian Mixture Model (GMM) clustering to two input point clouds. It then performs change detection by comparing the GMMs using the Earth Mover’s Distance. The algorithm is validated quantitatively and qualitatively using a test dataset collected by an Astrobee robot in the NASA Ames Granite Lab comprising single frame depth images taken directly by Astrobee and full-scene reconstructed maps built with RGB-D and pose data from Astrobee. The runtimes of the approach are also analyzed in depth. The source code is publicly released to promote further development.

robotics↗

Lunar Rover Localization Using Craters as Landmarks

Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the start of each drive. At the end of each drive, a “ground-in-the-loop” (GITL) interaction is used to get a position update from human operators in a more global reference frame, such as a map frame defined by orbital reconnaissance imaging of a large region around the rover’s current position. For Mars rovers, this typically has involved downlinking imagery from the rover mast cameras and using interactive visualization tools on Earth to register such images to the orbital reconnaissance images. For safety purposes, rover mission operations typically specify “keep out zones”, which human operators recognize as being unsafe in the orbital images. Autonomous rover drives are limited in distance so that accumulated relative navigation error does not risk the possibility of the rover driving into a keep out zone. The allowable autonomous drive distance in this mode of operation depends on the distribution of keep out zones and the accuracy of relative navigation; in practice, drive limits of a few hundred meters between GITL cycles are to be expected. Several rover mission concepts have recently been studied that require much longer drives between GITL cycles, particularly for the Moon. This includes lunar rover mission concepts that involve (1) driving mostly in sunlight at low latitudes, (2) driving in permanently shadowed regions near the south pole, and (3) a mixture of day and night driving in mid-latitudes. These concepts include total traverse distance requirements of up to 1,800 km in 4 Earth years, with individual drives of several kilometers between stops for downlink. These concepts require greater autonomy to minimize GITL cycles to enable such large range; onboard global localization is a key element of such autonomy. Multiple techniques have been studied in the past for onboard rover global localization, including radio navigation aiding from an orbiter, recognizing horizon landmarks that are known in a regional elevation map, and correlating a local elevation map created onboard the rover with a regional elevation map. These techniques all have drawbacks, including requiring an expensive extra mission element (navigation orbiter), unavailability of sufficient regional elevation map data, or limited accuracy in resulting position estimates (e.g. a few hundred meters with horizon landmarks). For the Moon, the ubiquitous craters offer another possibility, which involves mapping craters from orbit, then recognizing crater landmarks with cameras and/or a lidar onboard the rover. This approach is applicable everywhere on the Moon, does not require high resolution stereo imaging from orbit as some other approaches do, and has potential to enable position knowledge with order of 10 m accuracy at all times. This paper will provide more detail on our technical approach to crater-based lunar rover localization and will present initial results on crater detection using 3-D point cloud data from onboard lidar or stereo cameras and using shading cues in monocular onboard imagery.

Ono, M.↗

A Comparison of Risk Sensitive Path Planning Methods for Aircraft Emergency Landing

Determining the best site to land a damaged aircraft presents some interesting challenges for standard path planning techniques. There are multiple possible locations to consider, the space is 3-dimensional with dynamics, the criteria for a good path is determined by overall risk rather than distance or time, and optimization really matters, since an improved path corresponds to greater expected survival rate. We have investigated a number of different path planning methods for solving this problem, including cell decomposition, visibility graphs, probabilistic road maps (PRMs), and local search techniques. In their pure form, none of these techniques have proven to be entirely satisfactory - some are too slow or unpredictable, some produce highly non-optimal paths or do not find certain types of paths, and some do not cope well with the dynamic constraints when controllability is limited. In the end, we are converging towards a hybrid technique that involves seeding a roadmap with a layered visibility graph, using PRM to extend that roadmap, and using local search to further optimize the resulting paths. We describe the techniques we have investigated, report on our experiments with these techniques, and discuss when and why various techniques were unsatisfactory.

Meuleau, Nicolas↗

Time-Distance Helioseismology Data-Analysis Pipeline for Helioseismic and Magnetic Imager Onboard Solar Dynamics Observatory (SDO-HMI) and Its Initial Results

The Helioseismic and Magnetic Imager onboard the Solar Dynamics Observatory (SDO/HMI) provides continuous full-disk observations of solar oscillations. We develop a data-analysis pipeline based on the time-distance helioseismology method to measure acoustic travel times using HMI Doppler-shift observations, and infer solar interior properties by inverting these measurements. The pipeline is used for routine production of near-real-time full-disk maps of subsurface wave-speed perturbations and horizontal flow velocities for depths ranging from 0 to 20 Mm, every eight hours. In addition, Carrington synoptic maps for the subsurface properties are made from these full-disk maps. The pipeline can also be used for selected target areas and time periods. We explain details of the pipeline organization and procedures, including processing of the HMI Doppler observations, measurements of the travel times, inversions, and constructions of the full-disk and synoptic maps. Some initial results from the pipeline, including full-disk flow maps, sunspot subsurface flow fields, and the interior rotation and meridional flow speeds, are presented.

Sun: helioseismology↗

Thermophysical Property Variations Across Dione and Rhea

Maps of the variation in bolometric Bond albedo and thermal inertia across Rhea and Dione have been produced using various day and nighttime observations, taken by Cassini's Composite Infrared Spectrometer (CIRS). The albedo maps show the same trend that has been previously observed on these satellites from reflected sunlight and thermal observations: a higher albedo on their leading hemispheres. The thermal inertia maps show two previously unknown anomalous high thermal inertia regions: low latitudes on Dione's leading hemisphere and the bright ejecta blanket of Rhea's Inktomi crater. The thermal inertia on Dione increases modestly from a background value of 8 J m(exp -2) K(exp -1) s(exp -1/2) to 11 J m(exp -)2 K(exp -1) s(exp -1/2) in a region preferentially bombarded by high-energy electrons. We believe that this region on Dione is probably analogous to the thermally anomalous regions recently discovered at equivalent locations on Mimas and Tethys, dubbed Pac-Man features. The smaller magnitude of Dione's thermal anomaly, compared to that of Mimas and Tethys, provides additional evidence that surface alteration by high-energy electrons produces these anomalies, as the high-energy electron flux decreases with increasing distance from Saturn. However, unlike on Mimas and Tethys, the thermally anomalous region on Dione does not display a spatially correlated decrease in the IR/UV (0.930 micrometers/0.338 micrometers) color ratio, implying that the minimum electron energy threshold of the IR/UV ice surface darkening mechanism is not met on Dione. The average of the mapped bolometric Bond albedos on the leading and trailing hemispheres of Dione are 0.49 +/- 0.11 and 0.44 +/- 0.13 respectively. On Rhea the thermal inertia increases from a background value of 10 J m(exp -2) K (exp -1) s(exp -1/2) to 19 J m(exp -2) K(exp -1) s(exp -1/2) on the ejecta blanket of Inktomi crater, probably due to a mixture of high and low thermal inertia material in this region, such as a fine- and large-grain ice mixture. This is the first time a thermal inertia anomaly has been associated with an impact crater on an icy saturnian satellite. On Rhea the average of the mapped bolometric Bond albedos on the leading and trailing hemispheres are 0.59 +/- 0.11 and 0.56 +/- 0.13 respectively.

Saturn↗

Alteration mapping at Goldfield, Nevada, by cluster and discriminant analysis of LANDSAT digital data

The ability of Landsat multispectral digital data to differentiate among 62 combinations of rock and alteration types at the Goldfield mining district of Western Nevada was investigated by using statistical techniques of cluster and discriminant analysis. Multivariate discriminant analysis was not effective in classifying each of the 62 groups, with classification results essentially the same whether data of four channels alone or combined with six ratios of channels were used. Bivariate plots of group means revealed a cluster of three groups including mill tailings, basalt and all other rock and alteration types. Automatic hierarchical clustering based on the fourth dimensional Mahalanobis distance between group means of 30 groups having five or more samples was performed. The results of the cluster analysis revealed hierarchies of mill tailings vs. natural materials, basalt vs. non-basalt, highly reflectant rocks vs. other rocks and exclusively unaltered rocks vs. predominantly altered rocks. The hierarchies were used to determine the order in which sets of multiple discriminant analyses were to be performed and the resulting discriminant functions were used to produce a map of geology and alteration which has an overall accuracy of 70 percent for discriminating exclusively altered rocks from predominantly altered rocks.

Ballew, G.↗

The binary system MWC 349

The ionized zone surrounding MWC 349 has been resolved using the VLA. On the basis of a radio continuum map, it is concluded that there is a physical interaction between the two stellar components of MWC 349, and that the system is therefore a binary. The B component can be classified as a B0 III star, yielding a distance of about 1.2 kpc for the binary. The low ratio of infrared to short-wavelength luminosity in the A component suggests a circumstellar dusty region of special geometry. It is proposed that an appreciable dust and gas disk surrounds the star, modifying the symmetry of its H II region, and yielding the low infrared luminosity and perhaps its extra circumstellar extinction.

Cohen, M.↗

Geodesy and gravity experiment in earth orbit using a superconducting gravity gradiometer

A superconducting gravity gradiometer is under development with NASA support for space application. It is planned that a sensitive three-axis gravity gradiometer will be flown in a low-altitude (about 160 km) polar orbit in the 1990's for the purpose of obtaining a high-resolution gravity map of the earth. The large twice-an-orbit term in the harmonic expansion of gravity coming from the oblateness of the earth can be analyzed to obtain a precision test of the inverse square law at a distance of 100-1000 km. In this paper, the design, operating principle, and performance of the superconducting gravity gradiometer are described. The concept of a gravity-gradiometer mission (GGM), which is in an initial stage of development is discussed. In particular, requirements that such a mission imposes on the design of the cryogenic spacecraft will be addressed.

Paik, H. J.↗

Spatially Resolved Imaging at 350 Micrometers of Cold Dust in Nearby Elliptical Galaxies

Continuum observations at 350 micrometers of seven nearby elliptical galaxies for which CO gas disks have recently been resolved with interferometry mapping are presented. These SHARC II mapping results provide the first clearly resolved far-infrared (FIR)-to-submillimeter continuum emission from cold dust (with temperatures 31 K is approximately greater than T approximately greater than 23 K) of any elliptical galaxy at a distance greater than 40 Mpc. The measured FIR excess shows that the most likely and dominant heating source of this dust is not dilute stellar radiation or cooling flows, but rather star formation that could have been triggered by an accretion or merger event and fueled by dust-rich material that has settled in a dense region cospatial with the central CO gas disks. The dust is detected even in two cluster ellipticals that are deficient in H (sub I), showing that, unlike H (sub I), cold dust and CO in ellipticals can survive in the presence of hot X-ray gas, even in galaxy clusters. No dust cooler than 20 K, either distributed outside the CO disks or cospatial with and heated by the entire dilute stellar optical galaxy (or very extended H (sub I)), is currently evident.

photometry↗

Multi-Spacecraft Autonomous Positioning System

As the number of spacecraft in simultaneous operation continues to grow, there is an increased dependency on ground-based navigation support. The current baseline system for deep space navigation utilizes Earth-based radiometric tracking, requiring long-duration observations to perform orbit determination and generate a state update. The age, complexity, and high utilization of the ground assets pose a risk to spacecraft navigation performance. In order to perform complex operations at large distances from Earth, such as extraterrestrial landing and proximity operations, autonomous systems are required. With increasingly complex mission operations, the need for frequent and Earth-independent navigation capabilities is further reinforced. The Multi-spacecraft Autonomous Positioning System (MAPS) takes advantage of the growing interspacecraft communication network and infrastructure to allow for Earth-autonomous state measurements to enable network-based space navigation. A notional concept of operations is given in figure 1. This network is already being implemented and routinely used in Martian communications through the use of the Mars Reconnaissance Orbiter and Mars Odyssey spacecraft as relays for surface assets. The growth of this communications architecture is continued through MAVEN, and future potential commercial Mars telecom orbiters. This growing network provides an initial Marslocal capability for inter-spacecraft communication and navigation. These navigation updates are enabled by cross-communication between assets in the network, coupled with onboard navigation estimation routines to integrate packet travel time to generate ranging measurements. Inter-spacecraft communication allows for frequent state broadcasts and time updates from trusted references. The architecture is a software-based solution, enabling its implementation on a wide variety of current assets, with the operational constraints and measurement accuracy determined by onboard systems.

Anzalone, Evan↗

Velocity mapping in the plume of a 30-kW ammonia arcjet

The flow velocity of atomic hydrogen in the plume of an ammonia-propelled arcjet was measured using LIF. The velocity was obtained by the Doppler shift of the absorption peak of the Balmer alpha spectral line. Measurements were made at the nozzle exit, varying the distance from the plume centerline. Results are presented for arcjet operating conditions 13, 20 and 27 kW with a mass flow of 0.31 g/s. The on-axis H flow velocity varies from 14 km/s to 28 km/s over this range of input power. The axial velocity as a function of the distance from the axis is sharply peaked, dropping to almost zero at a radius of less than 5 mm.

Pham-Van-diep, Gerald C.↗

Map-based trigonometric parallaxes of open clusters. II - The Hyades: 51 Tauri

The trigonometric parallax, mass, and mass ratio of 51 Tauri, a binary member of the Hyades star cluster, are determined. The parallax solution, 19.4 mas with a standard error of 1.1 mas, is slightly greater than its generally accepted value and yields a cluster distance of 4.30 +/-2.0 pc or a distance modulus equivalent of 3.16 +/- 0.10 mag, in excellent agreement with recent photographic parallax results. The weighted mean of all trigonometric parallax determinations of the cluster is now 22.9 +/-0.6 mas or a modulus of 3.20 +/- 0.06 mag. The total mass of the 51 Tauri system was found to be 2.56 +/- 0.44 solar masses. Adopting a magnitude difference in line with the spectral types of the components yields individual masses of 1.61 +/- 0.28 and 0.95 +/- 0.18 solar masses. This result places the mass of both the A8 V primary and the G0 secondary stars within the errors of the measurement of the mass-luminosity relation established for solar-neighborhood main-sequence stars.

Gatewood, George↗

Studies of Westward Electrojets and Field-Aligned Currents in the Magnetotail During Substorms: Implications for Magnetic Field Models

This section outlines those tasks undertaken in the final year that contribute integrally to the overarching project goals. Fast, during the final year, it is important to note that the project benefited greatly with the addition of a Boston University graduate student, Ms. Karen Hirsch. Jointly, we made substantial progress on the development of and improvements to magnetotail magnetic field and plasma models. The ultimate aim of this specific task was to assess critically the utility of such models for mapping low-altitude phenomena into the magnetotail (and vice-versa). The bulk of this effort centered around the finite-width- magnetotail convection model developed by and described by Spence and Kivelson (J. Geophys. Res., 98, 15,487, 1993). This analytic, theoretical model specifies the bulk plasma characteristics of the magnetotail plasma sheet (number density, temperature, pressure) across the full width of the tail from the inner edge of the plasma sheet to lunar distances. Model outputs are specified by boundary conditions of the source particle populations as well as the magnetic and electric field configuration. During the reporting period, we modified this code such that it can be interfaced with the auroral particle precipitation model developed by Dr. Terry Onsager. Together, our models provide a simple analytic specification of the equatorial distribution of fields and plasma along with their low-altitude consequences. Specifically, we have built a simple, yet powerful tool which allows us to indirectly 'map' auroral precipitation signatures (VDIS, inverted-V's, etc.) measured by polar orbiting spacecraft in the ionosphere, to the magnetospheric equatorial plane. The combined models allow us to associate latitudinal gradients measured in the ion energy fluxes at low-altitudes with the large-scale pressure gradients in the equatorial plane. Given this global, quasi-static association, we can then make fairly strong statements regarding the location of discrete features in the context of the global picture. We reported on our initial study at national and international meetings and published the results of our predictions of the low-altitude signatures of the plasma sheet. In addition, the PI was invited to contribute a publication to the so-called 'Great Debate in Space Physics' series that is a feature of EOS. The topic was on the nature of magnetospheric substorms. Specific questions of the when and where a substorm occurs and the connection between the auroral and magnetospheric components were discussed in that paper. This paper therefore was derived exclusively from the research supported by this grant. Attachment: Empirical modeling of the quite time nightside magnetosphere.' 'CRRES observations of particle flux dropout event.' The what, where, when, and why of magnetospheric substorm triggers'. and 'Low altitude signature of the plasma sheet: model prediction of local time dependence'.

Spence, Harlan E.↗

On infall into the Virgo cluster

The history of the study of the Galaxy's motion with respect to the Local Supercluster is reviewed. Direct measurements of the infall pattern suggest an infall component at the Local Group of about 250 km/s. This value is consistent with that expected if the average mass-to-light ratio of galaxies is similar to that dynamically measured in galaxy clusters, a value that gives an Omega of only about 0.3. The infall pattern is also consistent with galaxy density maps produced by IRAS surveys, although it may be only marginally consistent with the 'Great Attractor'. On smaller scales, there is strong evidence that most of the spiral galaxies near the cluster core are still falling in. Using the best distance estimates to the Virgo cluster, the local value of the Hubble constant is about 85 km/s/Mpc.

Huchra, John P.↗

Aeroacoustic Measurements of a Wing-Flap Configuration

Aeroacoustic measurements are being conducted to investigate the mechanisms of sound generation in high-lift wing configurations, and initial results are presented. The model is approximately 6 percent of a full scale configuration, and consists of a main element NACA 63(sub 2) - 215 wing section and a 30 percent chord half-span flap. Flow speeds up to Mach 0.17 are tested at Reynolds number up to approximately 1.7 million. Results are presented for a main element at a 16 degree angle of attack, and flap deflection angles of 29 and 39 degrees. The measurement systems developed for this test include two directional arrays used to localize and characterize the noise sources, and an array of unsteady surface pressure transducers used to characterize wave number spectra and correlate with acoustic measurements. Sound source localization maps show that locally dominant noise sources exist on the flap-side edge. The spectral distribution of the noise sources along the flap-side edge shows a decrease in frequency of the locally dominant noise source with increasing distance downstream of the flap leading edge. Spectra are presented which show general spectral characteristics of Strouhal dependent flow-surface interaction noise. However, the appearance of multiple broadband tonal features at high frequency indicates the presence of aeroacoustic phenomenon following different scaling characteristics. The scaling of the high frequency aeroacoustic phenomenon is found to be different for the two flap deflection angles tested. Unsteady surface pressure measurements in the vicinity of the flap edge show high coherence levels between adjacent sensors on the flap-side edge and on the flap edge upper surface in a region which corresponds closely to where the flap-side edge vortex begins to spill over to the flap upper surface. The frequency ranges where these high levels of coherence occur on the flap surface are consistent with the frequency ranges in which dominant features appear in far field acoustic spectra. The consistency of strongly correlated unsteady surface pressures and far field pressure fluctuations suggests the importance of regions on the flap edge in generating sound.

Meadows, Kristine R.↗

Structural Modeling Using "Scanning and Mapping" Technique

Supported by NASA Glenn Center, we are in the process developing a structural damage diagnostic and monitoring system for rocket engines, which consists of five modules: Structural Modeling, Measurement Data Pre-Processor, Structural System Identification, Damage Detection Criterion, and Computer Visualization. The function of the system is to detect damage as it is incurred by the engine structures. The scientific principle to identify damage is to utilize the changes in the vibrational properties between the pre-damaged and post-damaged structures. The vibrational properties of the pre-damaged structure can be obtained based on an analytic computer model of the structure. Thus, as the first stage of the whole research plan, we currently focus on the first module - Structural Modeling. Three computer software packages are selected, and will be integrated for this purpose. They are PhotoModeler-Pro, AutoCAD-R14, and MSC/NASTRAN. AutoCAD is the most popular PC-CAD system currently available in the market. For our purpose, it plays like an interface to generate structural models of any particular engine parts or assembly, which is then passed to MSC/NASTRAN for extracting structural dynamic properties. Although AutoCAD is a powerful structural modeling tool, the complexity of engine components requires a further improvement in structural modeling techniques. We are working on a so-called "scanning and mapping" technique, which is a relatively new technique. The basic idea is to producing a full and accurate 3D structural model by tracing on multiple overlapping photographs taken from different angles. There is no need to input point positions, angles, distances or axes. Photographs can be taken by any types of cameras with different lenses. With the integration of such a modeling technique, the capability of structural modeling will be enhanced. The prototypes of any complex structural components will be produced by PhotoModeler first based on existing similar components, then passed to AutoCAD for modification and correction of any discrepancies seen in the Photomodeler version of the 3Dmodel. These three software packages are fully compatible. The DXF file can be used to transfer drawings among those packages. To begin this entire process, we are using a small replica of an actual engine blade as a test object. This paper introduces the accomplishment of our recent work.

Amos, Courtney L.↗

Contributions of GRACE to Climate Monitoring

The NASA/German Gravity Recovery and Climate Experiment (GRACE) was launched in March 2002. Rather than looking downward, GRACE continuously monitors the locations of and precise distance between twin satellites which orbit in tandem about 200 km apart. Variations in mass near Earth's surface cause heterogeneities in its gravity field, which in turn affect the orbits of satellites. Thus scientists can use GRACE data to map Earth's gravity field with enough accuracy to discern month to month changes caused by ocean circulation and redistribution of water stored on and in the land. Other gravitational influences, such as atmospheric circulation, post-glacial rebound, and solid earth movements are either independently determined and removed or are negligible on a monthly to sub-decadal timescale. Despite its coarse spatial (>150,000 sq km at mid-latitudes) and temporal (approx monthly) resolutions, GRACE has enabled significant advancements in the oceanic, hydrologic, and cryospheric science, and has great potential for climate monitoring, because it is the only global observing system able to measure ocean bottom pressures, total terrestrial water storage, and ice mass changes. The best known GRACE results are estimates of Greenland and Antarctic ice sheet loss rates. Previously, scientists had estimated ice mass losses using ground and satellite based altimetry and surface mass balance estimates based on snowfall accumulation and glacier discharge. While such measurements are still very useful for their spatial detail, they are imperfectly correlated with large-scale ice mass changes, due to snow and ice compaction and incomplete spatial coverage. GRACE enables scientists to generate monthly time series of Greenland and Antarctic ice mass, which have confirmed the shrinking of the polar ice sheets, one of the most obvious and indisputable manifestations of climate change. Further, GRACE has located and quantified hot spots of ice loss in southeastern Greenland and western Antarctica. For 2002 to present, the rate of ice mass loss has been 200 to 300 GT/yr in Greenland and 70 to 210 GT/yr in Antarctica, and some scientists are suggesting that the rates are accelerating. Similarly, GRACE has been used to monitor mass changes in alpine glaciers. Tamisiea et al. first characterized glacier melt along the southern coast of Alaska, more recently estimated to be occurring at a rate of 84 GT/yr. Chen et al. estimated that Patagonian glaciers are melting at a rate of 28 GT/yr, and estimated that the high mountains of central Asia lose ice at a rate of 47 GT/yr. Tapley et al. and Wahr et al. presented the first GRACE based estimates of changes in column-integrated terrestrial water storage (TWS; the sum of ground-water, soil moisture, surface waters, snow, ice, and water stored in vegetation) at continental scales. Since then, dozens of studies have shown that GRACE based estimates of regional to continental scale TWS variations agree with independent information, and some innovative uses of GRACE data have been developed. Rodell et al. (2004) and Swenson and Wahr (2006) demonstrated that by combining GRACE derived terrestrial water storage changes with observations of precipitation and runoff in a river basin scale water budget, it was possible to produce new estimates of evapotranspiration and atmospheric moisture convergence, essential climate variables that are difficult to estimate accurately. Similarly, GRACE has been used to constrain estimates of global river discharge and the contribution of changes in TWS to sea level rise. Crowley et al. observed a negative correlation between interannual TWS anomalies in the Amazon and the Congo River basin. Yeh et al. and Rodell et al. estimated regionally averaged groundwater storage variations based on GRACE and auxiliary observations. Rodell et al. and Tiwari et al. applied that method to quantify massive groundwater depletion in northern India caused by over reliance on aquifers for irration, and Famiglietti et al. found a similar situation in California's Central Valley. Zaitchik et al. and Lo et al. described approaches to use GRACE to constrain hydrological models, enabling integration of GRACE data with other observations and achieving much higher spatial and temporal resolutions than GRACE alone. Such approaches are now supporting applications including drought and water resources monitoring. Oceanography has likewise benefitted from the independent nature of GRACE observations. One application is measurement of the mass component of sea level rise, which complements radar altimetry and in situ measurements. GRACE also measures ocean bottom pressures (OBP), which help to refine understanding and modeling of ocean circulation and the ocean's fresh water budget, among other things. For example, Hayakawa et al. showed that GRACE observes OBP patterns absent from the background models of oceanic variability. Morison et al. used GRACE to describe important decadal scale shifts in circulation and an ongoing trend of freshening of the western Arctic, important indicators of climate variability. The research of Song and Zlotnicki and Chambers and Willis on GRACE-derived ocean bottom pressures in the sub-polar gyre led to the discovery of an ENSO teleconnection and a long-term change in OBP in the North Pacific sub-polar gyre that was not predicted by an ocean model. Further, Chambers and Willis were able to identify an internal redistribution of mass between Atlantic and Pacific Oceans lasting at least six years, which was not predicted by ocean models and was the first direct evidence of sustained mass transport from one ocean basin to another on periods longer than a year. Boening et al. observed a record increase in OBP over part of the southeastern Pacific in late 2009 and early 2010, primarily caused by wind stress curl associated with a strong and persistent anticyclone and likely related to the concurrent Central Pacific El Nino. GRACE has far surpassed its 5-year design lifetime, but it will likely succumb to the aging of batteries and instrument systems sometime in the next few years. NASA has begun initial development of a follow-on to GRACE with very similar design, which could launch as soon as 2016 and would provide continuity in the data record while improving resolution slightly. Higher resolution time variable gravity missions are also on the drawing board .

Rodell, Matthew↗