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Constructing a Database from Multiple 2D Images for Camera Pose Estimation and Robot Localization

The LMDB (Landmark Database) Builder software identifies persistent image features (landmarks) in a scene viewed multiple times and precisely estimates the landmarks 3D world positions. The software receives as input multiple 2D images of approximately the same scene, along with an initial guess of the camera poses for each image, and a table of features matched pair-wise in each frame. LMDB Builder aggregates landmarks across an arbitrarily large collection of frames with matched features. Range data from stereo vision processing can also be passed to improve the initial guess of the 3D point estimates. The LMDB Builder aggregates feature lists across all frames, manages the process to promote selected features to landmarks, and iteratively calculates the 3D landmark positions using the current camera pose estimations (via an optimal ray projection method), and then improves the camera pose estimates using the 3D landmark positions. Finally, it extracts image patches for each landmark from auto-selected key frames and constructs the landmark database. The landmark database can then be used to estimate future camera poses (and therefore localize a robotic vehicle that may be carrying the cameras) by matching current imagery to landmark database image patches and using the known 3D landmark positions to estimate the current pose.

Wolf, Michael

Holistic and Pragmatic Standards Processes Enable Interdisciplinary Science

Open, interdisciplinary science inevitably relies heavily on standards. Standards are those often unseen agreements that we take for granted when systems and processes are working fine. Yet standards work is perpetual, laborious, and sometimes contentious, especially for standards to work across diverse disciplines. Standards development, maintenance, and implementation is a complex, ongoing socio-technical process. NASA has developed a progressively open science policy and strategy that calls for the establishment of a data standards process reaching across the five diverse divisions of the Science Mission Directorate. This is a delicate exercise. We, therefore, seek to apply a holistic yet pragmatic approach to developing and maintaining a standards process. We adopt an ecological philosophy that focuses on the interactions within the data ecosystem and how standards facilitate those interactions. We couple high-level analysis with on the ground experimentation. We began by 1) mapping information ecosystem components (e.g. data centers, missions, services, protocols, users), 2)establishing how the components interact (e.g. sharing (meta)data, funding, personnel exchange), and 3) modelling system dynamics (e.g. creation of products from multiple data centers, redundant processes, shared services). The goal is to apply understanding of the ecosystem to real world applications (e.g. planning a new mission, implementing new policy requirements, improving process efficiency, etc.). We have also conducted studies of historical standardization efforts, documenting lessons learned and cautionary tales. We then contrast this more abstract work with real examples. We reviewed and assessed multiple existing standards development processes both within and external to NASA. We now work to implement an initial test process which can be further optimized. We seek to define a consistent approach for assigning persistent identifiers for research objects, especially for the purposes of citation. The experience from this relatively ‘simple’ test case adds a pragmatic perspective on how researchers and engineers actually work. This presentation will review the details of this methodology, our initial findings, and how they might apply to other interdisciplinary standardization efforts.

Mark A Parsons

The light ion trough, the main trough, and the plasmapause

Extensive observations of mid-latitude depletions in electron and total ion density by both direct and indirect techniques, have prompted numerous studies of the possible association between these troughs, observed in the F-region, the topside ionosphere, and the plasmapause. One basic problem arises, in that while the plasmapause was detected as a global phenomenon both by VLF and ion composition measurements, the electron and ion density troughs were identified primarily as nightside features. This problem, as well as the difficulty in explaining various inconsistencies in relating the position of the plasmapause and the ionization trough, is explained by a close examination of the ion composition. In particular, ion composition results from the polar orbiting OGO satellites identify the persistence of a pronounced light ion trough in H(+) and He(+) identified by order of magnitude decreases in the light ion concentrations.

Taylor, H. A., Jr.

Persistent Layers of Enhanced Gravity Wave Dissipation in the Upper Mesosphere Revealed From SABER Observations

Dissipation of gravity waves (GWs) and resultant momentum flux deposition and eddy diffusion significantly influence the atmospheric structure and circulation. Using the temperature profiles measured by the SABER instrument (2002–2021), we derive the global GW action and its scale height (HAm). Comparing to the background scale height (H), we identify a persistent layer of enhanced GW dissipation (HAm/H > 2) in the upper mesosphere. The enhanced dissipation is primarily centered at 80–85 km with a vertical range of ∼8–20 km. At middle and high latitudes, the enhanced dissipation extends down to ∼60 km and is located above the eastward (westward) wind peak in winter (summer). At low latitudes, enhanced dissipation occurs around the wind reversals. The possible mechanisms of enhanced dissipation include wave refraction, wind filtering, and reduced static stability. The persistent layer of enhanced dissipation identified here provide observational evidence for GW dissipation constrains in models.

gravity waves

The light-ion trough, the main trough, and the plasmapause.

Although the plasmapause has been detected as a global phenomenon by both VLF and ion composition measurements, the electron and ion density troughs have been identified primarily as nightside features. This problem, as well as the difficulty in explaining various inconsistencies in relating the position of the plasmapause and the ionization trough, is explained by a close examination of the ion composition, generally unavailable in previous trough studies. In particular, ion composition results from the polar-orbiting Ogo satellites identify the persistence of a pronounced light-ion trough (LIT) in H(+) and He(+), often identified by order-of-magnitude decreases in the light-ion concentrations, that occurs within a few degrees of latitude and reaches residual concentration levels of 100 to 1000 ions/cu cm near 60 deg dipole latitude. The LIT, observed both within the thermosphere and at high latitudes in the magnetosphere, has been correlated directly with the VLF whistler identification of the plasmapause.

Taylor, H. A., Jr.

Chemoproteomic Elucidation of β-Lactam Drug Targets in Mycobacterium abscessus

The pathogen Mycobacterium abscessus (Mab) can cause severe and difficult-to-treat chronic lung infections. Despite the rising incidence and clinical concern of Mab infections, treatment options are limited and often ineffective. Treatment is complicated by Mab’s ability to persist in a nonreplicating, drug-resistant state. Several β-lactam antibiotics are potently bactericidal against Mab but are underutilized because their molecular mechanisms of action against Mab are incompletely understood. In the current study, we used β-lactam-derived activity-based probes and chemoproteomics to report the first comprehensive list of Mab enzymes targeted by β-lactams. We compared β-lactam targets across two Mab subspecies in actively replicating and nonreplicating cultures, using a new carbon starvation model of persistence. We identified 17 targets that were active in every condition tested, seven of which were previously unknown to bind β-lactams. Lastly, we characterized the β-lactamase activity and β-lactam inhibition profiles of nine Mab enzymes, demonstrating that imipenem inhibits these targets more effectively than cefoxitin. These findings demonstrate β-lactam target engagement in persistent Mab and provide clarity on the mechanisms of action of clinically relevant β-lactams in Mab, crucial steps toward fully realizing their potential for treating infections caused by this opportunistic pathogen.

Mycobacterium abscessus

Location Identifiers, Metadata, and Map for Field Measurements at the East-Taylor Watershed Community Observatory, Colorado, USA (Version 3.3)

This dataset contains identifiers, metadata, and a map of the locations where field measurements have been conducted at the East-Taylor Watershed Community Observatory located in the Upper Colorado River Basin, United States. This is version 3.3 of the dataset and replaces the prior version 3.2 (see below for details on changes between the versions). Dataset description: The East River-Taylor Watershed is the primary field site of the Watershed Function Scientific Focus Area (WFSFA) and the Rocky Mountain Biological Laboratory. Researchers from several institutions generate highly diverse hydrological, biogeochemical, climate, vegetation, geological, remote sensing, and model data at the East-Taylor Watershed in collaboration with the WFSFA. Thus, the purpose of this dataset is to maintain an inventory of the field locations and instrumentation to provide information on the field activities in the East-Taylor Watershed and coordinate data collected across different locations, researchers, and institutions. The dataset contains (1) a README file with information on the various files, (2) three csv files describing the metadata collected for each surface point location, plot and region registered with the WFSFA, (3) csv files with metadata and contact information for each surface point location registered with the WFSFA, (4) a csv file with with metadata and contact information for plots, (5) a csv file with metadata for geographic regions and sub-regions within the watershed, (6) a compiled xlsx file with all the data and metadata which can be opened in Microsoft Excel, (7) a kml map of the locations plotted in the watershed which can be opened in Google Earth, (8) a jpg image of the kml map which can be viewed in any photo viewer, and (9) a zipped file with the registration templates used by the SFA team to collect location metadata. The zipped template file contains two csv files with the blank templates (point and plot), two csv files with instructions for filling out the location templates, and one compiled xlsx file with the instructions and blank templates together. Additionally, the templates in the xlsx include drop down validation for any controlled metadata fields. Persistent location identifiers (Location_ID) are determined by the WFSFA data management team and are used to track data and samples across locations. Dataset uses: This location metadata is used to update the Watershed SFA’s publicly accessible Field Information Portal (an interactive field sampling metadata exploration tool; https://wfsfa-data.lbl.gov/watershed/), the kml map file included in this dataset, and other data management tools internal to the Watershed SFA team. Version Information: The latest version of this dataset publication is version 3.3. This version contains 167 new point locations, 1 new plot, and 2 new geographic regions. Overall, there are a total of 1439 point locations, 75 plots, and 54 geographic regions. Additionally, the kml map of locations and image now includes two boundaries (Upper Ohio Creek (UO) and Carbon Creek (CA)) outside of the East River watershed (USGS HUC-10) and accompanying stream network that represents areas of focus. Refer to methods for further details on the version history. This dataset will be updated on a periodic basis with new measurement location information. Researchers interested in having their East-Taylor Watershed measurement locations added to this list should reach out to the WFSFA data management team at wfsfa-data@googlegroups.com. Acknowledgments: Please cite this dataset if using any of the location metadata in other publications or derived products. If using the location metadata for the 2018 NEON hyperspectral campaign, additionally cite Chadwick et al. (2020). doi:10.15485/1618130. This work was supported by the Watershed Function Science Focus Area at Lawrence Berkeley National Laboratory funded by the US Department of Energy, Office of Science, Biological and Environmental Research under Contract No. DE-AC02-05CH11231. Part of this work was performed at SLAC Accelerator Laboratory funded by the US Department of Energy, Office of Science, Biological and Environmental Research under Contract No. DE-AC02-76SF00515.

2018 NEON and 2025 CHESS Campaigns

A Field Guide to Corralling the Chaos: A Conceptual Framework for Using Models to Guide Opportunistic Field Studies of Natural Disturbances

Watersheds regulate biogeochemical processes and provide ecosystem services to human societies, but disturbances can fundamentally alter these processes across space and time. Determining when and where to sample to capture disturbance impacts in watersheds remains a central challenge. Manipulation studies and long-term monitoring are often constrained by scope, and opportunistic studies often lack pre-disturbance data needed to statistically determine disturbance impacts. We identify a persistent knowledge gap: the absence of a clear, transferable framework to guide opportunistic disturbance research where pre-disturbance data collection is not a feasible option. To address this gap, we present a conceptual framework that intentionally integrates modeling and empirical observation in an iterative, stepwise model–experiment workflow. We demonstrate its application through two contrasting case studies: wildfire impacts on headwater streams using a pre-disturbance preparedness approach, and saltwater flooding impacts on coastal forests using an ‘ex-post-facto’ approach. From these applications, we assess strengths, limitations, and the critical role of team science for transferability across disturbance types and study designs. Broadly, this framework offers a scalable path towards more rigorous, timely, and actionable disturbance science that can inform watershed management, hazard risk reduction, and ecosystem resilience.

Coastal Biogeochemistry

Propagation of a westward traveling surge and the development of persistent auroral features

Imaging instrumentation on board the spacecraft Dynamics Explorer 1 (DE 1) is used to observe the large-scale motion of a surge over 7000 km along the auroral oval from near local midnight. Average speed of the surge is 2.2 km/s. Ground-based observations at Fort Yukon, Alaska, show the classical looped, multiple-arc structure of a westward traveling surge as it passes overhead. Within the 6-min temporal resolution provided with DE 1, the surge advances initially at a speed of about 8 km/s followed by a steady decline to about 1 km/s over a period of 17 min. This sequence is then repeated a second time, beginning with a significant intensification of the surge form. This intense surge activity is not accompanied by significant auroral activity near magnetic midnight. Following passage of the surge, persistent and localized bright emission regions remain along the auroral oval for several tens of minutes. Average separation distances are approximately 700 km. If these persistent features identify the sites of individual stepwise advances of the surge, the average time per advance is about 5 min.

Craven, J. D.

Linked Open Data in the Global Change Information System (GCIS)

The U.S. Global Change Research Program (http://globalchange.gov) coordinates and integrates federal research on changes in the global environment and their implications for society. The USGCRP is developing a Global Change Information System (GCIS) that will centralize access to data and information related to global change across the U.S. federal government. The first implementation will focus on the 2013 National Climate Assessment (NCA) . (http://assessment.globalchange.gov) The NCA integrates, evaluates, and interprets the findings of the USGCRP; analyzes the effects of global change on the natural environment, agriculture, energy production and use, land and water resources, transportation, human health and welfare, human social systems, and biological diversity; and analyzes current trends in global change, both human-induced and natural, and projects major trends for the subsequent 25 to 100 years. The NCA has received over 500 distinct technical inputs to the process, many of which are reports distilling and synthesizing even more information, coming from thousands of individuals around the federal, state and local governments, academic institutions and non-governmental organizations. The GCIS will present a web-based version of the NCA including annotations linking the findings and content of the NCA with the scientific research, datasets, models, observations, etc. that led to its conclusions. It will use semantic tagging and a linked data approach, assigning globally unique, persistent, resolvable identifiers to all of the related entities and capturing and presenting the relationships between them, both internally and referencing out to other linked data sources and back to agency data centers. The developing W3C PROV Data Model and ontology will be used to capture the provenance trail and present it in both human readable web pages and machine readable formats such as RDF and SPARQL. This will improve visibility into the assessment process, increase understanding and reproducibility, and ultimately increase credibility and trust of the resulting report. Building on the foundation of the NCA, longer term plans for the GCIS include extending these capabilities throughout the U.S. Global Change Research Program, centralizing access to global change data and information across the thirteen agencies that comprise the program.

Tilmes, Curt A.

Extending the Reach of IGSN Beyond Earth: Implementing IGSN Registration to Link Nasa's Apollo Lunar Samples and Their Data

The rock and soil samples returned from the Apollo missions from 1969-72 have supported 46 years of research leading to advances in our understanding of the formation and evolution of the inner Solar System. NASA has been engaged in several initiatives that aim to restore, digitize, and make available to the public existing published and unpublished research data for the Apollo samples. One of these initiatives is a collaboration with IEDA (Interdisciplinary Earth Data Alliance) to develop MoonDB, a lunar geochemical database modeled after PetDB (Petrological Database of the Ocean Floor). In support of this initiative, NASA has adopted the use of IGSN (International Geo Sample Number) to generate persistent, unique identifiers for lunar samples that scientists can use when publishing research data. To facilitate the IGSN registration of the original 2,200 samples and over 120,000 subdivided samples, NASA has developed an application that retrieves sample metadata from the Lunar Curation Database and uses the SESAR API to automate the generation of IGSNs and registration of samples into SESAR (System for Earth Sample Registration). This presentation will describe the work done by NASA to map existing sample metadata to the IGSN metadata and integrate the IGSN registration process into the sample curation workflow, the lessons learned from this effort, and how this work can be extended in the future to help deal with the registration of large numbers of samples.

Todd, Nancy S.

Evaluations of Additively Manufactured Superalloy Lattice Blocks

Cast lattice block structures made up of high-temperature superalloys were previously shown to offer advantages in density, efficiency, and tailored properties. However, inconsistencies in casting die-fill, composition, and microstructure were identified as persistent issues with the casting process path. Three candidate lattice designs were screened through additive manufacturing of a superalloy. Laser powder bed fusion was applied with superalloy powder to produce lattice blocks for three-dimensional octahedral unit-cell designs of three heights. Properties of the structural designs versus additively manufactured lattices were compared, including structural dimensions, densities, defects, grain structures, crystallographic texture, and surface residual stresses. Findings indicate this concept could produce useful superalloy structures for high-temperature-capable static components requiring tailored density, and thermophysical and mechanical properties.

superalloy

Adaptive Scalpel Scanning Probe Microscopy for Enhanced Volumetric Sensing in Tomographic Analysis

Controlling nanoscale tip‐induced material removal is crucial for achieving atomic‐level precision in tomographic sensing with atomic force microscopy (AFM). While advances have enabled volumetric probing of conductive features with nanometer accuracy in solid‐state devices, materials, and photovoltaics, limitations in spatial resolution and volumetric sensitivity persist. This work identifies and addresses in‐plane and vertical tip‐sample junction leakage as sources of parasitic contrast in tomographic AFM, hindering real‐space 3D reconstructions. Novel strategies are proposed to overcome these limitations. First, the contrast mechanisms analyzing nanosized conductive features are explored when confining current collection purely to in‐plane transport, thus allowing reconstruction with a reduction in the overestimation of the lateral dimensions. Furthermore, an adaptive tip‐sample biasing scheme is demonstrated for the mitigation of a class of artefacts induced by the high electric field inside the thin oxide when volumetrically reduced. This significantly enhances vertical sensitivity by approaching the intrinsic limits set by quantum tunneling processes, allowing detailed depth analysis in thin dielectrics. The effectiveness of these methods is showcased in tomographic reconstructions of conductive filaments in valence change memory, highlighting the potential for application in nanoelectronics devices and bulk materials and unlocking new limits for tomographic AFM.

36 MATERIALS SCIENCE

Disorder-induced proximate quantum spin ice phase in Pr2Sn2O7

We report a comprehensive bulk characterization and neutron scattering investigation of single-crystalline Pr2Sn2O7, a magnetic pyrochlore synthesized via a flux-growth method. Unpolarized neutron diffuse scattering reveals the emergence of spin-ice correlations below T ∼ 1 K, evidenced by the development of anisotropic pinch-point features that are consistent with quantum-spin-ice (QSI) behavior. A.C. susceptibility measurements indicate a progressive slowing of spin dynamics in this regime, culminating in complete spin freezing below Tf ≈ 0.15 K. Inelastic neutron scattering at T = 0.5 K reveals a broad spectrum of quasi-elastic magnetic excitations, with intensity in the low-energy range [0, 0.2] meV significantly suppressed below Tf. Meanwhile, an incipient (100)-type magnetic order begins to nucleate, and a gapped excitation centered at ℏω = 0.23 meV persists. We further identify two distinct dynamical timescales above Tf , a slow component τ_slow ∼ 10^−5 s and a fast component τ_fast ∼ 10^−10 s, in quantitative agreement with theoretical predictions for QSI systems. Taken together, these results indicate that Pr2Sn2O7 enters a disorder-induced spin-frozen phase below Tf , lying in close proximity to a U(1) quantum spin liquid

Luo, Yi [ORNL] (ORCID:000900048710428X)

Consideration of Decabromodiphenyl Ether Flame Retardant in Thermal and Radiation Aging of Crosslinked Polyethylene Cable Insulation

Decabromodiphenyl ether (decaBDE) has been used as a flame-retardant additive in nuclear-grade electrical cable insulation. However, decaBDE has been identified as a persistent, bioaccumulative and toxic (PBT) substance, leading to regulatory scrutiny. On January 6, 2021, the Environmental Protection Agency (EPA) published a final rule to phase out decaBDE. The 2021 rule set a two-year compliance deadline for “processing and distribution in commerce of decaBDE for use in wire and cable insulation in nuclear power generation facilities.” In recognition of industry concerns following a sudden discontinuation of decaBDE-containing Class 1E wire and cable essential for nuclear power operations and the time needed for qualifying the individual components using the alternative insulation technology, an extended compliance deadline was set in the finalized amendments to the 2021 rule as published by the Environmental Appeals Board on November 12, 2024. The 2024 rule set the compliance deadline for processing and distributing decaBDE-containing wire and cable insulation until the end of the service life of these materials. Since decaBDE has long been relied upon as the flame retardant in one of the most common cross-linked polyethylene (XLPE) nuclear cable insulation formulations, RSCC Firewall III insulation, questions have naturally arisen regarding whether changes in cable performance might be expected for XLPE containing a decaBDE alternative, especially for safety-related cables that must perform their safety function in a design basis event such as a loss of coolant accident.

22 GENERAL STUDIES OF NUCLEAR REACTORS

Advective forecasts of VAS imagery for use in anticipating convective destabilization

Wind field forecasts, based on data from the Visible Atmospheric Sounder (VAS) instrument on board the most recent GOES satellite, are described. The forecasts were used to generate a series of water vapor images for the Central U.S. according to an isentropic prediction scheme. The ability of VAS imagery to detect regions of mesoscale convective instability was contrasted with data from a 9-12 hr advective forecast and the results are discussed. It is shown that the VAS imagery was free from masking by convective outflows and lends itself to repeated applications for updating throughout the day. The incorporation of surface data into the VAS forecast is recommended in order to identify areas of persistent moisture convergence. Some examples of the VAS imagery are provided.

Petersen, R. A.

Radiation physics and modelling for off-nadir satellite-sensing of non-Lambertian surfaces

The primary objective of this paper is to provide a deeper understanding of the physics of satellite remote-sensing when off-nadir observations are considered. Emphasis is placed on the analysis and modeling of atmospheric effects and the radiative transfer of non-Lambertian surface reflectance characteristics from ground-level to satellite locations. The relative importance of spectral, spatial, angular, and temporal reflectance characteristics for satellite-sensed identification of vegetation types in the visible and near-infrared wavelength regions is evaluated. The highest identification value is attributed to angular reflectance signatures. Using radiative transfer calculations to evaluate the atmospheric effects on angular reflectance distributions of vegetation surfaces, atmosphere-invariant angular reflectance features such as the 'hot spot' and the 'persistent valley' are identified. A new atmospheric correction formalism for complete angular reflectance distributions is described. A sample calculation demonstrates that a highly non-Lambertian measured surface reflectance distribution can be retrieved from simulated satellite data in the visible and near infrared to within about 20 percent accuracy for almost all view directions up to 60 deg off-nadir. Thus the high value of angular surface reflectance characteristics (the 'angular signature') for satellite-sensed feature identification is confirmed, which provides a scientific basis for future off-nadir satellite observations.

Gerstl, S. A.

White dwarfs in Be star binary systems

An evaluation is made of possible reasons for the persistent inability to identify white dwarf stars in the Be binary systems. It is noted that many Be stars exhibiting large optical enhancements may be Be + WD and Be + He systems, and that observations of pulsations in the H-alpha emission, as well as observation of time delays between enhancements of optical line and continuum, can identify such systems.

Apparao, K. M. V.