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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.

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All sourcesNASA NTRSDOE OSTI
NASA NTRS1981

Sensor failure detection system

Advanced concepts for detecting, isolating, and accommodating sensor failures were studied to determine their applicability to the gas turbine control problem. Five concepts were formulated based upon such techniques as Kalman filters and a screening process led to the selection of one advanced concept for further evaluation. The selected advanced concept uses a Kalman filter to generate residuals, a weighted sum square residuals technique to detect soft failures, likelihood ratio testing of a bank of Kalman filters for isolation, and reconfiguring of the normal mode Kalman filter by eliminating the failed input to accommodate the failure. The advanced concept was compared to a baseline parameter synthesis technique. The advanced concept was shown to be a viable concept for detecting, isolating, and accommodating sensor failures for the gas turbine applications.

Beattie, E. C.↗
NASA NTRS2017

Unreported Emission Lines of Rb, Ce, La, Sr, Y, Zr, Pb and Se Detected Using Laser-Induced Breakdown Spectroscopy

Information on emission lines for major and minor elements is readily available from the National Institute of Standards and Technology (NIST) as part of the Atomic Spectra Database. However, tabulated emission lines are scarce for some minor elements and the wavelength ranges presented on the NIST database are limited to those included in existing studies. Previous work concerning minor element calibration curves measured using laser-induced break-down spectroscopy found evidence of Zn emission lines that were not documented on the NIST database. In this study, rock powders were doped with Rb, Ce, La, Sr, Y, Zr, Pb and Se in concentrations ranging from 10 percent to 10 parts per million. The difference between normalized spectra collected on samples containing 10 percent dopant and those containing only 10 parts per million were used to identify all emission lines that can be detected using LIBS (Laser-Induced Breakdown Spectroscopy) in a ChemCam-like configuration at the Mount Holyoke College LIBS facility. These emission spectra provide evidence of many previously undocumented emission lines for the elements measured here.

LIBS↗
NASA NTRS1998

Evidence of Microfossils in Carbonaceous Chondrites

Investigations have been carried out on freshly broken, internal surfaces of the Murchison, Efremovka and Orgueil carbonaceous chondrites using Scanning Electron Microscopes (SEM) in Russia and the Environmental Scanning Electron Microscope (ESEM) in the United States. These independent studies on different samples of the meteorites have resulted in the detection of numerous spherical and ellipsoidal bodies (some with spikes) similar to the forms of uncertain biogenicity that were designated "organized elements" by prior researchers. We have also encountered numerous complex biomorphic microstructures in these carbonaceous chondrites. Many of these complex bodies exhibit diverse characteristics reminiscent of microfossils of cyanobacteria such as we have investigated in ancient phosphorites and high carbon rocks (e.g. oil shales). Energy Dispersive Spectroscopy (EDS) analysis and 2D elemental maps shows enhanced carbon content in the bodies superimposed upon the elemental distributions characteristic of the chondritic matrix. The size, distribution, composition, and indications of cell walls, reproductive and life cycle developmental stages of these bodies are strongly suggestive of biology' These bodies appear to be mineralized and embedded within the meteorite matrix, and can not be attributed to recent surface contamination effects. Consequently, we have interpreted these in-situ microstructures to represent the lithified remains of prokaryotes and filamentous cyanobacteria. We also detected in Orgueil microstructures morphologically similar to fibrous kerite crystals. We present images of many biomorphic microstructures and possible microfossils found in the Murchison, Efremovka, and Orgueil chondrites and compare these forms with known microfossils from the Cambrian phosphate-rich rocks (phosphorites) of Khubsugul, Northern Mongolia.

Hoover, Richard B.↗
NASA NTRS2013

NASA Tech Briefs, April 2013

Topics covered include: Fully Integrated, Miniature, High-Frequency Flow Probe Utilizing MEMS Leadless SOI Technology; Nanoscale Surface Plasmonics Sensor With Nanofluidic Control; Advanced Dispersed Fringe Sensing Algorithm for Coarse Phasing Segmented Mirror Telescopes; Neural Network Back-Propagation Algorithm for Sensing Hypergols; Bulk Moisture and Salinity Sensor; Change-Based Satellite Monitoring Using Broad Coverage and Targetable Sensing; Circularly Polarized Microwave Antenna Element with Very Low Off-Axis Cross-Polarization; Ultra-Low Heat-Leak, High-Temperature Superconducting Current Leads for Space Applications; Flash Cracking Reactor for Waste Plastic Processing; An Automated Safe-to-Mate (ASTM) Tester; Wireless Chalcogenide Nanoionic-Based Radio-Frequency Switch; Compute Element and Interface Box for the Hazard Detection System; DOT Transmit Module; Composite Aerogel Multifoil Protective Shielding; Li-Ion Electrolytes with Improved Safety and Tolerance to High-Voltage Systems; Polymer-Reinforced, Non-Brittle, Lightweight Cryogenic Insulation; Controlled, Site-Specific Functionalization of Carbon Nanotubes with Diazonium Salts; Regenerable Sorbent for CO2 Removal; Sprayable Aerogel Bead Compositions With High Shear Flow Resistance and High Thermal Insulation Value; Lexan Linear Shaped Charge Holder with Magnets and Backing Plate; Robotic Ankle for Omnidirectional Rock Anchors; Wind, Wave, and Tidal Energy Without Power Conditioning; An Active Heater Control Concept to Meet IXO Type Mirror Module Thermal-Structural Distortion Requirement; Waterless Clothes-Cleaning Machine; Integrated Electrical Wire Insulation Repair System; LVGEMS Time-of-Flight Mass Spectrometry on Satellites; Surface Inspection Tool for Optical Detection of Surface Defects; Per-Pixel, Dual-Counter Scheme for Optical Communications; Certification-Based Process Analysis; Surface Navigation Using Optimized Waypoints and Particle Swarm Optimization; Smart-Divert Powered Descent Guidance to Avoid the Backshell Landing Dispersion Ellipse; Estimating Foreign-Object-Debris Density from Photogrammetry Data; Adaptive Sampling of Spatiotemporal Phenomena with Optimization Criteria; Building a 2.5D Digital Elevation Model From 2D Imagery; Eyes on the Earth 3D; Target Trailing With Safe Navigation for Maritime Autonomous Surface Vehicles; Adams-Based Rover Terramechanics and Mobility Simulator - ARTEMIS; ISTP CDF Skeleton Editor; Uplink Summary Generator (ULSGEN) Version 1.0; Robotics On-Board Trainer (ROBoT); Software Engineering Tools for Scientific Models; Automatic Data Filter Customization Using a Genetic Algorithm; Tracker Toolkit; Towards Efficient Scientific Data Management Using Cloud Storage; On a Formal Tool for Reasoning About Flight Software Cost Analysis; A Nanostructured Composites Thermal Switch Controls Internal and External Short Circuit in Lithium Ion Batteries; Spacecraft Crew Cabin Condensation Control; and Functional Near-Infrared Spectroscopy Signals Measure Neuronal Activity in the Cortex.

Source record↗
NASA NTRS1987

Detectability of minerals on desert alluvial fans using reflectance spectra

The visible and near-infrared reflectance spectra of soil samples collected from desert alluvial and colluvial surfaces in the Cuprite mining district, Nevada, were analyzed. These surfaces are downslope from hydrothermally altered volcanic rocks that contain spectrally characteristic minerals such as alunite and kaolinite. Coarse fractions of the soils on the alluvial fans are mineralogically variable and express the upslope lithologies; fine fractions are remarkably similar mineralogically and spectrally in all samples because of dilution of local mineral components by regionally derived windblown dust. Theoretical models for spectral mixing and for particle-size effects were used to model the observed spectral variations. Diagnostic mineral absorption bands in the spectra of fan materials were enhanced by computationally removing the spectrum of the homogeneous fine-soil component. Results show that spectral mixing models are useful for analyzing data with high spectral resolution obtained by field and aircraft spectrometers.

Shipman, Hugh↗
NASA NTRS1991

The chemistry and mineralogy of Mars soil and dust

A single geological unit consisting of fine, apparently weathered soil material is covering large portions of the surface of Mars. This soil material has been thoroughly homogenized by global dust storms and it is plausible to assume that Mars dust is strongly correlated with it. The chemical-elemental composition of the soil was directly measured by the Viking Landers. Positive detection of Si, Al, Fe, Mg, Ca, Ti, S, Cl, and Br was achieved. Analyses of the SNC meteorites, a group of meteorites that has been suggested to be ejected Martian rocks, supply additional elemental-concentration data, broadening considerably the chemical data-base on the surface materials. A composition model for Mars soil, giving selected average elemental concentrations of major and trace elements, was recently suggested. It was constructed by combining the Viking Lander data, the SNC meteorite analyses, and other analyses. The mineralogy of the surface materials on Mars has not been directly measured yet. By use of various indirect approaches, including chemical correspondence to the surface analyses, spectral analogies, simulations of Viking Lander experiments, analyses of the SNC meteorites and various modeling efforts, the mineralogical composition was constrained to some extent. No direct analyses of soil reactivity have been done yet. Indirect evidence, mostly from the Viking biology experimental results, suggests that the soil probably has a slightly acidic reaction and is generally oxidized. Unambiguous identification of the Mars soil minerals by direct mineralogical analyses, and non-disturbed or in-situ measurements of the soil's reactivity, are of primary importance in future Mars research.

Banin, A.↗
NASA NTRSDate not supplied

Present Day Volcanism on Venus: Evidence from Alteration Experiments

The crust of Venus is thought to be comprised of basaltic rocks with similar composition to terrestrial volcanics, but on Venus they are in contact with a hot caustic atmosphere that should alter them to produce weathering rinds. These weathering rinds should affect orbital measurements (both radar and spectroscopy) of the crust, such has been measured at Idunn Mons. However, the rate of alteration on Venus and specifically how alteration mineralogy affects orbital measurements are not well understood. With the upcoming decade of Venus exploration, laboratory measurements connecting alteration and spectroscopy are critically needed. Here, I will summarize what is known about the composition of Venus lava flows and the rate at which these rocks should alter on the Venus surface. I will then apply this work to Idunn Mons as a case study to show that it should be volcanically active, which may be detectable by the pcoming fleet of missions.

Justin Filiberto↗
NASA NTRS1978

Lead isotope systematics of mare basalt 75075

Uranium, thorium and isotopic lead data are reported for two bulk samples and separated pyroxene, ilmenite and plagioclase from basalt 75075. In a concordia diagram the whole rock, ilmenite and four pyroxene samples define a chord intersecting the concordia curve at approximately 4.25 and 2.8 AE. Three plagioclase samples plot distinctly off the chord. The crystallization age of 75075 is accurately determined at 3.74 AE by Rb-Sr, Sm-Nd and K-Ar measurements from other laboratories. It is not possible to adjust the isotopic composition of initial lead so as to reconcile the U-Pb data with a crystallization age of 3.74 AE. The data therefore indicate some type of post-crystallization disturbance of the U-Pb system that is not detected by the other systems. The 75075 data are one of the few examples of this type of age pattern found on the moon. If the disturbance was a single event, it probably occurred around 2.8 AE ago, the time indicated by the pyroxene, whole rock and ilmenite data.

Chen, J. H.↗
NASA NTRS2010

Terrain Hazard Detection and Avoidance During the Descent and Landing Phase of the Altair Mission

This paper describes some of the environmental challenges associated with landing a crewed or robotic vehicle at any certified location on the lunar surface (i.e. not a mountain peak, permanently dark crater floor or overly steep terrain), with a specific focus on how hazard detection technology may be incorporated to mitigate these challenges. For this discussion, the vehicle of interest is the Altair Lunar Lander, being the vehicle element of the NASA Constellation Program aimed at returning humans to the moon. Lunar environmental challenges for such global lunar access primarily involve terrain and lighting. These would include sizable rocks and slopes, which are more concentrated in highland areas; small craters, which are essentially everywhere independent of terrain type; and for polar regions, low-angle sunlight, which leaves significant terrain in shadow. To address these issues, as well as to provide for precision landing, the Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project was charted by NASA Headquarters, and has since been making significant progress. The ALHAT team considered several sensors for real-time hazard detection, settling on the use of a Flash Lidar mounted to a high-speed gimbal, with computationally intense image processing and elevation interpretation software. The Altair Project has been working with the ALHAT team to understand the capabilities and limitations of their concept, and has incorporated much of the ALHAT hazard detection system into the Altair baseline design. This integration, along with open issues relating to computational performance, the need for system redundancy, and potential pilot interaction, will be explored further in this paper.

Strhan, Alan L.↗
NASA NTRS1974

Feasibility study for locating archaeological village sites by satellite remote sensing techniques

The author has identified the following significant results. The objective is to determine the feasibility of detecting large Alaskan archaeological sites by satellite remote sensing techniques and mapping such sites. The approach used is to develop digital multispectral signatures of dominant surface features including vegetation, exposed soils and rock, hydrological patterns and known archaeological sites. ERTS-1 scenes are then printed out digitally in a map-like array with a letter reflecting the most appropriate classification representing each pixel. Preliminary signatures were developed and tested. It was determined that there was a need to tighten up the archaeological site signature by developing accurate signatures for all naturally-occurring vegetation and surface conditions in the vicinity of the test area. These second generation signatures have been tested by means of computer printouts and classified tape displays on the University of Alaska CDU-200 and by comparison with aerial photography. It has been concluded that the archaeological signatures now in use are as good as can be developed. Plans are to print out signatures for the entire test area and locate on topographic maps the likely locations of archaeological sites within the test area.

Cook, J. P.↗
NASA NTRS1985

Impact experiments. I - Ejecta velocity distributions and related results from regolith targets

Results are reported of laboratory measurements of the velocity distributions of powdery ejecta of 14 impacts into powders simulating regolith in near vacuum. The impact velocities ranged from 5-2321 m/sec, a velocity range believed prevalent in the early solar system. The powder was mechanically similar to lunar regolith. The projectiles comprised harder materials than the regolith, i.e., pyrex spheres, basalt spheres and cylinders, and igneous rocks. High-speed photography was employed to record the events. The differences between the present results and those from hypervelocity impacts are discussed in detail. Notably, an impact velocity threshold was detected between 10-30 m/sec, below which the amount of ejecta is less than the projectile mass.

Hartmann, W. K.↗
NASA NTRS1986

Martian dust particles as condensation nuclei - A preliminary assessment of mineralogical factors

Experiments were performed to determine the factors influencing ice nucleation detected in Viking Lander data from the Mars surface. The study focused on the relationship between mineral properties and condensate formation under Mars conditions. Pulverized particles of the primary phases of basaltic rocks and their alteration products, expandable clay minerals and a nonexpandable clay mineral, and petrologically well-characterized regolith materials ranging from 10-60 microns in size, were studied. The powders were individually or in combinations mixed with water in a flowing CO2 atmosphere while calorimetry data was taken on the ice nucleation threshold. The ice-forming characteristics of the mixes were found to be a function of the crystallographic disregistry, chemical bonding, and active-site properties of the individual minerals. The crystalline materials were better nucleators of condensates than were the cryptocrystalline mineral specimens, while nonexpandable clay materials, particularly zeolite, were the more effective nucleators among the weathering product materials.

Gooding, J. L.↗
NASA NTRS2009

The Lunar Regolith as a Remote Sensing Target for the Lunar Reconnaissance Orbiter (LRO)

Of the 6 instruments and one technology demonstration aboard the LRO, only CRaTER does not measure some kind of interaction of particles with the lunar regolith. LEND detects neutron fluence that contains information about the number density of protons in the upper regolith. To infer the presence of protons, the PI must assume a model that characterizes the surface as a collection of atoms. Thus, LEND does not sense the regolith as a structure. LROC, LOLA, and LAMP sense reflected photons whose wavelength is much shorter than the median particle size in the regolith. The photons interact with electrons, either in atomic shells or in chemical bonds. These interactions occur within a nanometer or so of the surface of a particle. Thus, the particles are macroscopic objects and models of the reflection process invoke ray-tracing optics. DIVINER senses photons that have been emitted by surface particles through thermal phonon processes. The wavelengths detected by the instrument are of the same order as the median particle size, and the photons contain information on particle dimensions as well as the molecular bonds in the constituent compounds. The Mini-RF synthetic aperture radar generates and detects photons of a few centimeters wavelength that interact with the regolith as a dielectric, the dielectric properties of the particulate component being described through effective medium theory. However, the interaction with rocks (macroscopic objects of interest to geologists) can be characterized using Fresnel or Mie models of electromagnetic properties.

Mendell, Wendell W.↗
NASA NTRSDate not supplied

An Overview of SHERLOC Raman and Fluorescence Spectroscopy Results Obtained During Perseverance’s Green Zone Campaign at Jezero Crater, Mars

The Perseverance rover landed in Jezero crater, Mars, in February 2021. The field site was chosen because orbiter data provided evidence that the crater hosted an ancient (>2.7 Ga) fluvio-lacustrine environment. The Octavia E. Butler landing site is located ~1.9 km east of the erosional remnant of the Jezero river delta. Scanning Habitable Environments with Raman and Luminescence for Organics and Chemicals (SHERLOC) is an arm-mounted instrument that combines fluorescence and Raman spectroscopy with microscopic imaging to analyze geological materials in order to better understand the history of the environments recorded in the rocks within Jezero crater and to search for potential biosignatures. SHERLOC has two microscopic cameras, the Autofocus and Context Imager (ACI) and the Wide-Angle Topographic Sensor for Operations and eNgineering, (WATSON). These subsystems obtain high spatial resolution (10.1–100 µm/pixel) images to identify grain-scale structure and texture. SHERLOC spectroscopy enables high-sensitivity detection, characterization, and spatially-resolved correlation of trace organic materials. SHERLOC’s 248.6 nm deep UV laser generates a 100 µm-diameter spot. Photons generated by Raman scattering and fluorescence emission are collected and the spectra are downlinked to Earth for analysis. Knowledge of where the laser is pointed allows for mineral and compositional maps to be generated and overlain in ACI and WATSON images. Early spectroscopy observations focused on natural rock surfaces at targets named Nataani (sol 83), Bi_la_sana (sol 98) and Foux (sol 141). These surfaces included patches of aeolian dust that had settled upon the rocks. Perseverance’s abrasion tool is expected to become available in August 2021; it will grind to depths of 14 mm to remove dust and penetrate coatings and weathering rinds. This presentation will summarize major results from analysis of the rocks examined by SHERLOC during Perseverance’s first science and sample coring campaign (Green Zone Campaign).

Luther W Beegle↗
NASA NTRS1999

Composition and Origin of Martian Surface Material, Remote Detection of Minerals, and Applications to Astrobiology

Martian surface composition and processes are under study through analysis of spectral, magnetic and chemical data from Mars and analysis of laboratory analog materials. The focus of this study is on potential lander/rover measurements of weathered volcanic tephra and hydrothermal rocks because these samples resulted from processes that may have occurred on Mars. Fine-grained particles from these sources may be responsible for origination of the dust/soil on Mars that is shaping the planet's surface character. Alteration on the surface of Mars likely includes both chemical and physical interactions of soil particles and rock surfaces. Many of the minerals present in hydrothermal samples may be associated with organisms and may be useful as indicators of life or environments supportive of life on Mars. Characterization of the spectroscopic properties in the visible/near-infrared (VIS/NIR) and mid-infrared (IR) regions using reflectance, emittance and Raman, as well as the thermal properties of minerals thought to be present on Mars are being performed in order to identify them remotely. Particular interest is directed toward locating minerals, and hence landing sites, important to Astrobiology.

Bishop, J. L.↗
NASA NTRS1997

Chicxulub Impact Ejecta in Belize

Chicxulub ejecta deposits in Belize provide the closest exposures of ejecta to the crater and the only exposures of proximal ejecta deposited in a terrestrial environment. A quarry on Albion Island in northern Belize exposes Late Cretaceous, possibly Maastrichtian, carbonate platform sediments that were folded, eroded, and subaerially weathered prior to the deposition of coarse ejecta from Chicxulub. These ejecta deposits are composed of a basal, about 1-m-thick clay and dolomite Spheroid Bed overlain by a about 15-m-thick coarse Diamictite Bed. Many and perhaps most of the clay spheroids are altered glass. Many dolomite spheroids have concentric layers and angular cores are probably of accretionary lapilli origin. A slight Ir concentration (111-152 ppt) was detected in the base of the Spheroid Bed. The Diamictite Bed contains about 10% altered glass, rare shocked quartz, 3-8 m diameter boulders and striated and polished cobbles, one with a penetrating rock chip that plastically deformed the cobble. Ejecta deposits extend to the surface at Albion and the maximum thickness in this area is not known. Ejecta deposits are exposed in several roadside quarries in the Cayo District of central Belize. The Late Cretaceous here is also represented by carbonate platform sediments. The upper surface of the carbonate platform is a highly irregular and extensively recrystallized horizon possibly representing deep karst weathering. Approximately 30 in of diamictite overlies this horizon with a texture similar to the Diamictite Bed at the Albion quarry, but with a more diverse lithology. In three locations the Cayo diamictites, contain red clay layers with abundant polished and striated limestone pebbles and cobbles called Pook's Pebbles, several of which have penetrating rock chips and ablated surfaces. We interpret the Albion Spheroid Bed as a deposit from the impact vapor plume and the Albion and Cayo diamictites as the result of a turbulent flow that contained debris derived from the ejecta curtain and local scouring. The polished, striated, and ablated Pook's Pebbles are interpreted as high altitude ballistic ejecta.

Ocampo, A.↗
NASA NTRS2015

The Icebreaker Mission to Search for Life on Mars

The search for evidence of life on Mars is the ultimate motivation for its scientific exploration. The results from the Phoenix mission indicate that the high N. latitude ice-rich regolith at low elevations is likely to be a recently habitable place on Mars [Stoker et al., 2010]. The near-surface ice likely provided adequate water activity during periods of high obliquity, 3 to 10 Myr ago. Carbon dioxide and nitrogen are present in the atmosphere, and nitrates may be present in the soil. Together with iron in basaltic rocks and perchlorate in the soil they provide carbon and energy sources, and oxidative power to drive metabolism. Furthermore, the presence of organics is possible, as thermally reactive perchlorate would have prevented their detection by Viking and Phoenix. The Mars Icebreaker Life mission [McKay et al., 2013] focuses on the following science goals: (1) Search for biomolecular evidence of life; (2) Search for organic matter from either exogeneous or endogeneous sources using methods that are not effected by the presence of perchlorate; (3) Characterize oxidative species that produced reactivity of soils seen by Viking; and 4) Assess the habitability of the ice bearing soils. The Icebreaker Life payload (Figure 1) includes a 1-m rotary percussive drill that brings cuttings samples to the surface where they are delivered to three instruments (Fig. 1), the Signs of Life Detector (SOLID) [Parro et al., 2011] for biomolecular analysis, Laser Desorption Mass Spectrometer (LDMS) [??? 2015]) for broad spectrum organic analysis, and Wet Chemistry Laboratory (WCL) [Hecht et al., 2009] for detecting soluble species of nutrients and reactive oxidants. The Icebreaker payload fits on the Phoenix spacecraft and can land at the well-characterized Phoe-nix landing site in 2020 in a Discovery-class mission.

Carbon dioxide and nitrogen↗
NASA NTRS2021

Colorado Ecological Forecasting: Monitoring Post-fire Cheatgrass (Bromus tectorum) Distribution to Inform Management Planning

Cheatgrass (Bromus tectorum) is a species of concern across the western United States as it has the potential to outcompete native plant species, reduce biodiversity, and diminish nutrient availability for ungulates. Furthermore, because cheatgrass can quickly dominate disturbed landscapes it has the potential to exacerbate wildfire risk by increasing fuel loads. In 2020, the Cameron Peak fire burned more than 200,000 acres on the Arapaho and Roosevelt National Forests in Colorado. These issues are of imminent concern for our partners at the Forest Service (USFS), as they are tasked with wildfire risk and invasive species mitigation. Disturbances such as wildfires can substantially increase the rate and extent of cheatgrass spread. Current cheatgrass mitigation methods rely on field crews to physically locate cheatgrass on the landscape, which takes time, money, and extensive manpower. Here, we developed two Random Forest models within the Software for Assisted Habitat Modeling (SAHM) using remote sensing predictors derived from Sentinel-2 MultiSpectral Instrument (MSI) and Shuttle Radar Topography Mission (SRTM). The first model identified suitable cheatgrass habitat while the other detected cheatgrass presence during the 2021 growing season. Topographic variables were found to be the most important in driving the habitat suitability model. Cheatgrass detection was also found to be possible within a short timespan with limited imagery surrounding a phenological shift of the plant. Maps produced from these models provide natural resource managers the ability to implement early detection and rapid response to prevent the spread of cheatgrass to new locations.

DEVELOP Tech Paper↗