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NASA NTRS2010

Lunar Lander Offloading Operations Using a Heavy-Lift Lunar Surface Manipulator System

This study investigates the feasibility of using a heavy-lift variant of the Lunar Surface Manipulator System (LSMS-H) to lift and handle a 12 metric ton payload. Design challenges and requirements particular to handling heavy cargo were examined. Differences between the previously developed first-generation LSMS and the heavy-lift version are highlighted. An in-depth evaluation of the tip-over risk during LSMS-H operations has been conducted using the Synergistic Engineering Environment and potential methods to mitigate that risk are identified. The study investigated three specific offloading scenarios pertinent to current Lunar Campaign studies. The first involved offloading a large element, such as a habitat or logistics module, onto a mobility chassis with a lander-mounted LSMS-H and offloading that payload from the chassis onto the lunar surface with a surface-mounted LSMS-H. The second scenario involved offloading small pressurized rovers with a lander-mounted LSMS-H. The third scenario involved offloading cargo from a third-party lander, such as the proposed ESA cargo lander, with a chassis-mounted LSMS-H. In all cases, the analyses show that the LSMS-H can perform the required operations safely. However, Chariot-mounted operations require the addition of stabilizing outriggers, and when operating from the Lunar surface, LSMS-H functionality is enhanced by adding a simple ground anchoring system.

Jefferies, Sharon A.↗

NASA NTRS2009

Developments to Increase the Performance, Operational Versatility and Automation of a Lunar Surface Manipulation System

The objective of this paper is to describe and summarize the results of the development efforts for the Lunar Surface Manipulation System (LSMS) with respect to increasing the performance, operational versatility, and automation. Three primary areas of development are covered, including; the expansion of the operational envelope and versatility of the current LSMS test-bed, the design of a second generation LSMS, and the development of automation and remote control capability. The first generation LSMS, which has been designed, built, and tested both in lab and field settings, is shown to have increased range of motion and operational versatility. Features such as fork lift mode, side grappling of payloads, digging and positioning of lunar regolith, and a variety of special end effectors are described. LSMS operational viability depends on bei nagble to reposition its base from an initial position on the lander to a mobility chassis or fixed locations around the lunar outpost. Preliminary concepts are presented for the second generation LSMS design, which will perform this self-offload capability. Incorporating design improvements, the second generation will have longer reach and three times the payload capability, yet it will have approximately equivalent mass to the first generation. Lastly, this paper covers improvements being made to the control system of the LSMS test-bed, which is currently operated using joint velocity control with visual cues. These improvements include joint angle sensors, inverse kinematics, and automated controls.

Dorsey, John T.↗

NASA NTRS2011

Recent Developments in the Design, Capabilities and Autonomous Operations of a Lightweight Surface Manipulation System and Test-bed

The first generation of a versatile high performance device for performing payload handling and assembly operations on planetary surfaces, the Lightweight Surface Manipulation System (LSMS), has been designed and built. Over the course of its development, conventional crane type payload handling configurations and operations have been successfully demonstrated and the range of motion, types of operations and the versatility greatly expanded. This enhanced set of 1st generation LSMS hardware is now serving as a laboratory test-bed allowing the continuing development of end effectors, operational techniques and remotely controlled and automated operations. This paper describes the most recent LSMS and test-bed development activities, that have focused on two major efforts. The first effort was to complete a preliminary design of the 2nd generation LSMS that has the capability for limited mobility and can reposition itself between lander decks, mobility chassis, and fixed base locations. A major portion of this effort involved conducting a study to establish the feasibility of, and define, the specifications for a lightweight cable-drive waist joint. The second effort was to continue expanding the versatility and autonomy of large planetary surface manipulators using the 1st generation LSMS as a test-bed. This has been accomplished by increasing manipulator capabilities and efficiencies through both design changes and tool and end effector development. A software development effort has expanded the operational capabilities of the LSMS test-bed to include; autonomous operations based on stored paths, use of a vision system for target acquisition and tracking, and remote command and control over a communications bridge.

Dorsey, John T.↗

NASA NTRSDate not supplied

A Protoflight Lightweight Surface Manipulation System to Enable High-Load, Long-Reach Lunar Surface Operations

There is a current critical need under the Artemis program for a versatile, high-load, long reach manipulation system that can provide payload offloading and handling for lunar landers. The Lightweight Surface Manipulation System (LSMS) is a highly structurally efficient, long-reach robotic arm that can be sized for a wide range of missions and payload ranges. The LSMS has more than a decade of heritage and testing at NASA Langley Research Center (LaRC), including laboratory and field testing of multiple end-effector tools and operational scenarios. With the need for rapid development of a flight-proven offloading capability and the desire to have that device be reusable for future missions and services, a 4-year program was initiated this year under NASA’s Space Technology Mission Directorate, to develop and build a protoflight unit of the LSMS, capable of lifting 1,000 kg on the Moon at an 8-meter reach. The target mission is to fly on a large cargo lander as a technology demonstrator to validate self-leveling, deployment, and payload handling operations, with future flights adding additional tools and capabilities. This paper provides a summary of the prior decade of work on the LSMS, the current mission drivers and goals, and details the first year of development of the LSMS toward a protoflight unit.

LSMS↗

NASA NTRSDate not supplied

A Protoflight Lightweight Surface Manipulation System to Enable High-Load, Long-Reach Lunar Surface Operations

lunar surface↗

DOE OSTI2018

On the predictability of land surface fluxes from meteorological variables

Previous research has demonstrated that land surface models (LSMs) are performing poorly when compared with relatively simple empirical models over a wide range of metrics and environments. Atmospheric driving data appear toprovide information about land surface fluxes that LSMs are not fully utilising. Here, we further quantify the information available in the meteorological forcing data that are used by LSMs for predicting land surface fluxes, by interrogating FLUXNET data, and extending the benchmarking methodology used in previous experiments. We show that substantial performance improvement is possible for empirical models using meteorological data alone, with no explicit vegetation or soil properties, thus setting lower bounds on a priori expectations on LSM performance. The process also identifies key meteorological variables that provide predictive power. We provide an ensemble of empirical benchmarks that are simple to reproduce and provide a range of behaviours and predictive performance, acting as a baseline benchmark set for future studies. We reanalyse previously published LSM simulations and show that there is more diversity between LSMs than previously indicated, although it remains unclear why LSMs are broadly performing so much worse than simple empirical models.

58 GEOSCIENCES↗

NASA NTRS2012

Identifying and Evaluating the Relationships that Control a Land Surface Model's Hydrological Behavior

The inherent soil moisture-evaporation relationships used in today 's land surface models (LSMs) arguably reflect a lot of guesswork given the lack of contemporaneous evaporation and soil moisture observations at the spatial scales represented by regional and global models. The inherent soil moisture-runoff relationships used in the LSMs are also of uncertain accuracy. Evaluating these relationships is difficult but crucial given that they have a major impact on how the land component contributes to hydrological and meteorological variability within the climate system. The relationships, it turns out, can be examined efficiently and effectively with a simple water balance model framework. The simple water balance model, driven with multi-decadal observations covering the conterminous United States, shows how different prescribed relationships lead to different manifestations of hydrological variability, some of which can be compared directly to observations. Through the testing of a wide suite of relationships, the simple model provides estimates for the underlying relationships that operate in nature and that should be operating in LSMs. We examine the relationships currently used in a number of different LSMs in the context of the simple water balance model results and make recommendations for potential first-order improvements to these LSMs.

Koster, Randal D.↗

DOE OSTI2019

Development and Verification of a Numerical Library for Solving Global Terrestrial Multiphysics Problems

Abstract Current generation Land Surface Models (LSMs) routinely simulate many nonlinear multiphysics processes. The complexity of future generation LSMs is expected to increase as critical new biophysical and biogeochemical processes are incorporated. Current generation LSMs have several shortcomings including the lack of robust numerical methods to solve discretized equations, monolithic software design that hinders testing of a process representation in isolation from other components, and absence of a flexible coupling framework to solve tightly coupled multiphysics problems. While the LSMs community vigorously evaluates the accuracy of the conceptual model to represent reality (validation), the accuracy of the numerical implementation of the conceptual model (verification) is seldom examined. Method of Manufactured Solutions is a technique for verifying complex codes when analytical solutions are unavailable. In this work, we present a stand‐alone, open source numerical library for solving global terrestrial multiphysics processes that includes a flexible coupling framework. Robust numerical solution for linear and nonlinear equations is provided via the Portable, Extensible Toolkit for Scientific Computation library. We verify the numerical library using Method of Manufactured Solutions for a range of problems comprising single and multiphysics steady state problems that are applied in one or multiple physical domains. This work provides an example of incorporating code verification as an integral part of Land Surface Model development activities.

58 GEOSCIENCES↗

DOE OSTI2023

Modeling Global Vegetation Gross Primary Productivity, Transpiration and Hyperspectral Canopy Radiative Transfer Simultaneously Using a Next Generation Land Surface Model—CliMA Land

Recent progress in satellite observations has provided unprecedented opportunities to monitor vegetation activity at global scale. However, a major challenge in fully utilizing remotely sensed data to constrain land surface models (LSMs) lies in inconsistencies between simulated and observed quantities. For example, gross primary productivity (GPP) and transpiration (T) that traditional LSMs simulate are not directly measurable from space, although they can be inferred from spaceborne observations using assumptions that are inconsistent with those LSMs. In comparison, canopy reflectance and fluorescence spectra that satellites can detect are not modeled by traditional LSMs. To bridge these quantities, we presented an overview of the next generation land model developed within the Climate Modeling Alliance (CliMA), and simulated global GPP, T, and hyperspectral canopy radiative transfer (RT; 400–2,500 nm for reflectance, 640–850 nm for fluorescence) at hourly time step and 1° spatial resolution using CliMA Land. CliMA Land predicts vegetation indices and outgoing radiances, including solar-induced chlorophyll fluorescence (SIF), normalized difference vegetation index (NDVI), enhanced vegetation index (EVI), and near infrared reflectance of vegetation (NIRv) for any given sun-sensor geometry. The spatial patterns of modeled GPP, T, SIF, NDVI, EVI, and NIRv correlate significantly with existing data-driven products (mean R 2 = 0.777 for 9 products). CliMA Land would be also useful in high temporal resolution simulations, for example, providing insights into when GPP, SIF, and NIRv diverge.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2023

Carbon and Water Fluxes of the Boreal Evergreen Needleleaf Forest Biome Constrained by Assimilating Ecosystem Carbonyl Sulfide Flux Observations

Gross primary production (GPP) by boreal forests is highly sensitive to environmental changes. However, GPP simulated by land surface models (LSMs) remains highly uncertain due to the lack of direct photosynthesis observations at large scales. Carbonyl sulfide (COS) has emerged as a promising proxy to improve the representation of GPP in LSMs. Because COS is absorbed by vegetation following the same diffusion pathway as CO2 during photosynthesis and not emitted back to the atmosphere, incorporating a mechanistic representation of vegetation COS uptake in LSMs allows using COS observations to refine GPP representation. Here, we perform ecosystem COS flux and GPP data assimilations to constrain the COS- and GPP-related parameters in the ORCHIDEE LSM for boreal evergreen needleleaf forests (BorENF). Assimilating ecosystem COS fluxes at Hyytiälä forest increases the simulated net ecosystem COS uptake by 14%. This increase largely results from changes in the internal conductance to COS, highlighting the need to improve the representation of COS internal diffusion and consumption. Moreover, joint assimilation of ecosystem COS flux and GPP at Hyytiälä improves the simulated latent heat flux, contrary to the GPP-only data assimilation, which fails to do so. Finally, we scaled this assimilation framework up to the boreal region and find that the joint assimilation of COS at Hyytiälä and GPP fluxes at 10 BorENF sites increases the modeled vegetation COS uptake up to 18%, but not GPP. Therefore, this study encourages the use of COS flux observations to inform GPP and latent heat flux representations in LSMs.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2016

Land surface models systematically overestimate the intensity, duration and magnitude of seasonal-scale evaporative droughts

Land surface models (LSMs) must accurately simulate observed energy and water fluxes during droughts in order to provide reliable estimates of future water resources. We evaluated 8 different LSMs (14 model versions) for simulating evapotranspiration (ET) during periods of evaporative drought (Edrought) across six flux tower sites. Using an empirically defined Edrought threshold (a decline in ET below the observed 15th percentile), we show that LSMs simulated 58 Edrought days per year, on average, across the six sites, ~3 times as many as the observed 20 d. The simulated Edrought magnitude was ~8 times greater than observed and twice as intense. Our findings point to systematic biases across LSMs when simulating water and energy fluxes under water-stressed conditions. The overestimation of key Edrought characteristics undermines our confidence in the models' capability in simulating realistic drought responses to climate change and has wider implications for phenomena sensitive to soil moisture, including heat waves.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2021

Quantifying the Impacts of Land Surface Modeling on Hub-Height Wind Speed under Different Soil Conditions

We investigate the impact of three land surface models (LSMs) on hub-height wind speed under three different soil regimes (dry, wet, and frozen) to understand and improve the physics of wind energy forecasts using the Weather Research and Forecasting (WRF) model. A six-day representative period is selected for each soil condition. The simulated wind speed, surface energy budget and soil properties are compared with the observations collected from the second Wind Forecast Improvement Project (WFIP2). For the selected cases, our simulation results suggest that, the impact of LSMs on hub-height wind speed are sensitive to the soil states but not so much to the choice of LSM. The simulated hub-height wind speed is in much better agreement with the observations for the dry soil case than the wet and frozen soil cases. Over the dry soil, there is a strong physical connection between the land surface and hub-height wind speed through near-surface turbulent mixing. Over the wet soil, the simulated hub-height wind speed is less impacted by land surface due to weaker surface fluxes and more dominated by large-scale synoptic disturbances. Over the frozen soil, the land surface model seems to have limited impact on hub-height wind speed variability due to the decoupling of the land surface with the overlying atmosphere. Two main sources of modeling uncertainties are proposed. The first are the insufficient model physics representing the surface energy budget, especially the ground heat flux, and the second are the inaccurate initial soil states such as soil temperature and soil moisture.

Xia, Geng↗

DOE OSTI2020

Evaluation of global terrestrial evapotranspiration using state-of-the-art approaches in remote sensing, machine learning and land surface modeling

Abstract. Evapotranspiration (ET) is critical in linking global water, carbon and energy cycles. However, direct measurement of global terrestrial ET is not feasible. Here, we first reviewed the basic theory and state-of-the-art approaches for estimating global terrestrial ET, including remote-sensing-based physical models, machine-learning algorithms and land surface models (LSMs). We then utilized 4 remote-sensing-based physical models, 2 machine-learning algorithms and 14 LSMs to analyze the spatial and temporal variations in global terrestrial ET. The results showed that the ensemble means of annual global terrestrial ET estimated by these three categories of approaches agreed well, with values ranging from 589.6 mm yr-1 (6.56×104 km3 yr-1) to 617.1 mm yr-1 (6.87×10 4 km3 yr -1 ). For the period from 1982 to 2011, both the ensembles of remote-sensing-based physical models and machine-learning algorithms suggested increasing trends in global terrestrial ET (0.62 mm yr -2 with a significance level of p<0.05 and 0.38 mm yr -2 with a significance level of p<0.05, respectively). In contrast, the ensemble mean of the LSMs showed no statistically significant change (0.23 mm yr -2 , p>0.05), although many of the individual LSMs reproduced an increasing trend. Nevertheless, all 20 models used in this study showed that anthropogenic Earth greening had a positive role in increasing terrestrial ET. The concurrent small interannual variability, i.e., relative stability, found in all estimates of global terrestrial ET, suggests that a potential planetary boundary exists in regulating global terrestrial ET, with the value of this boundary being around 600 mm yr -1 . Uncertainties among approaches were identified in specific regions, particularly in the Amazon Basin and arid/semiarid regions. Improvements in parameterizing water stress and canopy dynamics, the utilization of new available satellite retrievals and deep-learning methods, and model–data fusion will advance our predictive understanding of global terrestrial ET.

58 GEOSCIENCES↗

NASA NTRS2005

Analysis of Multiple Precipitation Products and Preliminary Assessment of Their Impact on Global Land Data Assimilation System (GLDAS) Land Surface States

Land surface models (LSMs) are computer programs, similar to weather and climate prediction models, which simulate the stocks and fluxes of water (including soil moisture, snow, evaporation, and runoff) and energy (including the temperature of and sensible heat released from the soil) after they arrive on the land surface as precipitation and sunlight. It is not currently possible to measure all of the variables of interest everywhere on Earth with sufficient accuracy and space-time resolution. Hence LSMs have been developed to integrate the available observations with our understanding of the physical processes involved, using powerful computers, in order to map these stocks and fluxes as they change in time. The maps are used to improve weather forecasts, support water resources and agricultural applications, and study the Earth's water cycle and climate variability. NASA's Global Land Data Assimilation System (GLDAS) project facilitates testing of several different LSMs with a variety of input datasets (e.g., precipitation, plant type). Precipitation is arguably the most important input to LSMs. Many precipitation datasets have been produced using satellite and rain gauge observations and weather forecast models. In this study, seven different global precipitation datasets were evaluated over the United States, where dense rain gauge networks contribute to reliable precipitation maps. We then used the seven datasets as inputs to GLDAS simulations, so that we could diagnose their impacts on output stocks and fluxes of water. In terms of totals, the Climate Prediction Center (CPC) Merged Analysis of Precipitation (CMAP) had the closest agreement with the US rain gauge dataset for all seasons except winter. The CMAP precipitation was also the most closely correlated in time with the rain gauge data during spring, fall, and winter, while the satellitebased estimates performed best in summer. The GLDAS simulations revealed that modeled soil moisture is highly sensitive to precipitation, with differences in spring and summer as large as 45% depending on the choice of precipitation input.

Gottschalck, Jon↗

NASA NTRS2010

A Modular, Reusable Latch and Decking System for Securing Payloads During Launch and Planetary Surface Transport

Efficient handling of payloads destined for a planetary surface, such as the moon or Mars, requires robust systems to secure the payloads during transport on the ground, in-space and on the planetary surface. In addition, mechanisms to release the payloads need to be reliable to ensure successful transfer from one vehicle to another. An efficient payload handling strategy must also consider the devices available to support payload handling. Cranes used for overhead lifting are common to all phases of payload handling on Earth. Similarly, both recent and past studies have demonstrated that devices with comparable functionality will be needed to support lunar outpost operations. A first generation test-bed of a new high performance device that provides the capabilities of both a crane and a robotic manipulator, the Lunar Surface Manipulation System (LSMS), has been designed, built and field tested and is available for use in evaluating a system to secure payloads to transportation vehicles. National Institute of Aerospace, Hampton Va 23662 A payload handling approach must address all phases of payload management including: ground transportation, launch, planetary transfer and installation in the final system. In addition, storage may be required during any phase of operations. Each of these phases requires the payload to be lifted and secured to a vehicle, transported, released and lifted in preparation for the next transportation or storage phase. A critical component of a successful payload handling approach is a latch and associated carrier system. The latch and carrier system should minimize requirements on the: payload, carrier support structure and payload handling devices as well as be able to accommodate a wide range of payload sizes. In addition, the latch should; be small and lightweight, support a method to apply preload, be reusable, integrate into a minimal set of hard-points and have manual interfaces to actuate the latch should a problem occur. A latching system which meets these requirements has been designed and fabricated and will be described in detail. This latching system works in conjunction with a payload handling device such as the LSMS, and the LSMS has been used to test first generation latch and carrier hardware. All tests have been successful during the first phase of operational evaluations. Plans for future tests of first generation latch and carrier hardware with the LSMS are also described.

Doggett, William R.↗

NASA NTRS2011

A Modular, Reusable Latch and Decking System for Securing Payloads During Launch and Planetary Surface Transport

Efficient handling of payloads destined for a planetary surface, such as the moon or mars, requires robust systems to secure the payloads during transport on the ground, in space and on the planetary surface. In addition, mechanisms to release the payloads need to be reliable to ensure successful transfer from one vehicle to another. An efficient payload handling strategy must also consider the devices available to support payload handling. Cranes used for overhead lifting are common to all phases of payload handling on Earth. Similarly, both recent and past studies have demonstrated that devices with comparable functionality will be needed to support lunar outpost operations. A first generation test-bed of a new high performance device that provides the capabilities of both a crane and a robotic manipulator, the Lunar Surface Manipulation System (LSMS), has been designed, built and field tested and is available for use in evaluating a system to secure payloads to transportation vehicles. A payload handling approach must address all phases of payload management including: ground transportation, launch, planetary transfer and installation in the final system. In addition, storage may be required during any phase of operations. Each of these phases requires the payload to be lifted and secured to a vehicle, transported, released and lifted in preparation for the next transportation or storage phase. A critical component of a successful payload handling approach is a latch and associated carrier system. The latch and carrier system should minimize requirements on the: payload, carrier support structure and payload handling devices as well as be able to accommodate a wide range of payload sizes. In addition, the latch should; be small and lightweight, support a method to apply preload, be reusable, integrate into a minimal set of hard-points and have manual interfaces to actuate the latch should a problem occur. A latching system which meets these requirements has been designed and fabricated and will be described in detail. This latching system works in conjunction with a payload handling device such as the LSMS, and the LSMS has been used to test first generation latch and carrier hardware. All tests have been successful during the first phase of operational evaluations. Plans for future tests of first generation latch and carrier hardware with the LSMS are also described.

Doggett, William R.↗

NASA NTRS2015

Decomposition of Sources of Errors in Seasonal Streamflow Forecasting over the U.S. Sunbelt

Seasonal streamflow forecasts, contingent on climate information, can be utilized to ensure water supply for multiple uses including municipal demands, hydroelectric power generation, and for planning agricultural operations. However, uncertainties in the streamflow forecasts pose significant challenges in their utilization in real-time operations. In this study, we systematically decompose various sources of errors in developing seasonal streamflow forecasts from two Land Surface Models (LSMs) (Noah3.2 and CLM2), which are forced with downscaled and disaggregated climate forecasts. In particular, the study quantifies the relative contributions of the sources of errors from LSMs, climate forecasts, and downscaling/disaggregation techniques in developing seasonal streamflow forecast. For this purpose, three month ahead seasonal precipitation forecasts from the ECHAM4.5 general circulation model (GCM) were statistically downscaled from 2.8deg to 1/8deg spatial resolution using principal component regression (PCR) and then temporally disaggregated from monthly to daily time step using kernel-nearest neighbor (K-NN) approach. For other climatic forcings, excluding precipitation, we considered the North American Land Data Assimilation System version 2 (NLDAS-2) hourly climatology over the years 1979 to 2010. Then the selected LSMs were forced with precipitation forecasts and NLDAS-2 hourly climatology to develop retrospective seasonal streamflow forecasts over a period of 20 years (1991-2010). Finally, the performance of LSMs in forecasting streamflow under different schemes was analyzed to quantify the relative contribution of various sources of errors in developing seasonal streamflow forecast. Our results indicate that the most dominant source of errors during winter and fall seasons is the errors due to ECHAM4.5 precipitation forecasts, while temporal disaggregation scheme contributes to maximum errors during summer season.

Decomposition↗

NASA NTRS2016

Comparing Potential Recharge Estimates From Three Land Surface Models Across the Western US

Groundwater is a major source of water in the western US. However, there are limited recharge estimates available in this region due to the complexity of recharge processes and the challenge of direct observations. Land surface Models (LSMs) could be a valuable tool for estimating current recharge and projecting changes due to future climate change. In this study, simulations of three LSMs (Noah, Mosaic and VIC) obtained from the North American Land Data Assimilation System (NLDAS-2) are used to estimate potential recharge in the western US Modeled recharge was compared with published recharge estimates for several aquifers in the region. Annual recharge to precipitation ratios across the study basins varied from 0.01-15% for Mosaic, 3.2-42% for Noah, and 6.7-31.8% for VIC simulations. Mosaic consistently underestimates recharge across all basins. Noah captures recharge reasonably well in wetter basins, but overestimates it in drier basins. VIC slightly overestimates recharge in drier basins and slightly underestimates it for wetter basins. While the average annual recharge values vary among the models, the models were consistent in identifying high and low recharge areas in the region. Models agree in seasonality of recharge occurring dominantly during the spring across the region. Overall, our results highlight that LSMs have the potential to capture the spatial and temporal patterns as well as seasonality of recharge at large scales. Therefore, LSMs (specifically VIC and Noah) can be used as a tool for estimating future recharge rates in data limited regions.

groundwater↗