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Real-Time Path Planning for Multi-copters flying in UTM -TCL4

NASA's UAS Traffic management (UTM) -TCL-4 focuses on safely enabling large scale small UAS oper- ations in low altitude airspace in dense urban regions. This paper presents an operational architecture of an autonomous unmanned aerial vehicle operating in TCL4. An on-line path planning scheme is proposed which can effectively plan for feasible paths in real time with TCL-4 constraints. An end to end system is designed and tested in high fidelity Reflection architecture which demonstrates the feasibility of the approach.

Chakrabarty, Anjan

Using scripting languages in optical interferometry

We discuss client-side CORBA scripts implemented in Tcl, Perl, and Python. These are all technologies that are either currently being used on testbeds at JPL or being evaluated for future use. Finally, a Python example demonstrating implementation of a simple CORBA server is presented.

CORBA

Assessing Stainless Steel Compatibility in Flowing FLiBe Salt

To address the considerable interest in LiF-BeF 2 (FLiBe) compatibility for fission and fusion reactor applications, static and flowing compatibility experiments were conducted to assess the compatibility with type 316H stainless steel. In static testing at 550° and 650 °C, small mass changes were measured and posttest characterization of the FLiBe showed increased levels of Fe, Cr, Ni and Mn in the salt. Adding Be in the static salt test reduced the dissolution of Fe and Ni. Further, an initial assessment of mass transfer in flowing FLiBe without a Be addition was conducted using a monometallic 316H thermal convection loop (TCL) operated for 1000 h with a peak temperature of 650 °C. Similar to prior results in flowing FLiNaK salt, the 316H specimens exhibited small mass losses in the hot leg. Posttest characterization of the 316H specimens suggested Cr surface depletion in the hot and cold legs and possibly Fe deposition in the cold leg. To further understand this behavior, Cr and Fe dissolution was measured in static FLiBe at 550–650 °C.

316H stainless steel

SEGUID v2: Extending SEGUID checksums for circular, linear, single- and double-stranded biological sequences

Background Synthetic biology involves combining different DNA fragments, each containing functional biological parts, to address specific problems. Fundamental gene-function research often requires cloning and propagating DNA fragments, such as those from the iGEM Parts Registry or Addgene, typically distributed as circular plasmids. Addgene’s repository alone offers around 150,000 plasmids. To ensure data integrity, cryptographic checksums can be calculated for the sequences. Each sequence has a unique checksum, making checksums useful for validation and quick lookups of associated annotations. For example, the SEGUID checksum uniquely identifies protein sequences with a 27-character string. Objectives The original SEGUID, while effective for protein sequences and single-stranded DNA (ssDNA), is not suitable for circular DNA since there is no natural starting position nor for double-stranded DNA (dsDNA) since two separate sequences are present. Challenges include how to uniquely represent linear dsDNA, circular ssDNA, and circular dsDNA. To meet these needs, we propose SEGUID v2, which extends the original SEGUID to handle additional types of sequences. Conclusions SEGUID v2 produces orientation and rotation invariant checksums for single-stranded, double-stranded, possibly staggered, linear, and circular DNA and RNA sequences. Customizable alphabets allow for other types of sequences. In contrast to the original SEGUID, which uses Base64, SEGUID v2 uses Base64url to encode the SHA-1 hash. This ensures SEGUID v2 checksums can be used as-is in filenames, regardless of platform, and in URLs, with minimal friction. Availability SEGUID v2 is readily available for major programming languages, distributed under the MIT license. JavaScript package seguid is available on npm, Python package seguid on PyPi, R package seguid on CRAN, and a Tcl script on GitHub. These tools, along with documentation, examples, and an online SEGUID Calculator , can be found at https://www.seguid.org .

Pereira, Humberto

Data From: "Warming and snow loss increase reliance on old groundwater in a Colorado River headwater"

This repository contains the data and code associated with the paper titled "Warming and snow loss increase reliance on old groundwater in a Colorado River headwater," published in Nature Geoscience, 2026. This study seeks to answer how various ages of groundwater interact with mountainous streamflow in mountainous headwaters such as the East River. It includes various model-data processing scripts, primarily for ParFlow-CLM analysis of simulated water years 2015-2021, and two numerical warming experiments (+2.5 and +4.0 degrees C), including run scripts, forcing scripts, and post-processing, as well as comparison to observation datasets, detailed below. This data requires the use of R (.r, .rmd), Python (.py), Jupyter Notebook or Jupyter Lab (.ipynb), ParFLOW-CLM, EcoSLIM. Further information on the use of all file formats mentioned below (e.g. .tff. .nc) are provided within the associated scripts and directory where the files are located. Contents & Usage ASO/: ​​Contains the bash and python scripts used to convert airborne snow observatory (ASO) data (ASO, 2023) in various data formats (georeferenced tiff file, NetCDF, UTM, and to latitude/longitude) then regrided to the ParFlow equivalent grid. Output data are in regrid_regll_data.zip and subsequently visualized and analyzed in plot_and_compare.py for Supplementary Figures A14 and A15. The wksht_ASO_comparison.xlsx spreadsheet is used to calculate the data for Supplementary Figure A16. EcoSLIM/: Contains the scripts and input files to run the EcoSLIM particle tracking simulations (/run_scripts) and the post-processing python script (/plot_scripts/eco_agedist_plots.ipynb). Jasechko et al./: Contains the jupyter notebook (Extract_Elevation.ipynb) to determine the outlet elevations of the 260 watersheds used in Jasechko et al. (2016), and the corresponding table, Table_S1_Watersheds_alt.csv. Used to create Supplementary Information Figure A2. PLM_Wells/: Contains the QA/QC-ed groundwater level time series of the PLM-1 and PLM-6 Monitoring Wells from Faybishenko et al. (2023), reformatted to water years used for Supplementary Figures A19 and and A20. ParFlow/: Contains the input files and run scripts to run ParFlow-CLM (/run_scripts), the python and tool command language (Tcl) scripts to create and distribute the ParFlow forcing simulation files (/forcing), and various scripts and intermediary files to analyze the model outputs (/post_process). SQUIRE/: Contains the processing scripts and intermediary files for the Surface QUantitatIve pRecipitation Estimation (SQUIRE) data (Grover, 2023) used to generate Supplementary Figure A18. USGS_Streamflow/: Contains the raw and gap-filled United States Geological Survey streamflow data (U.S. Geological Survey, 2026) used at the Almont station (site number 09112500). Gap-filling is performed in the R script with data from the Taylor station (site number 09110000). (/USGS_09112500_EAST_RIVER_AT_ALMONT_GAP_FILLED/code_almont_streamflow_gap_fill.Rmd). discharge/: Contains the gap-filled discharge data at the Watershed Function SFA East River pumphouse site (Newcomer et al., 2022) used to generate Supplementary Figure A13 and to compute hourly Nash-Sutcliffe model efficiency coefficients (NSE) in Table A4. snotel_and_flux_tower/: Contains the snow telemetry data (U.S. Department of Agriculture, 2024) from the Butte (site ID 380) and Schofield (site ID 737) stations, reformatted by water year, accessed with the snotelr R package. Used to create Supplementary Figure A17. Also contains the flux tower observational data (FluxTower_Pumphouse_ESS-DIVE.ET_only.h.txt) from Ryken et al. (2022) and sap flux transpiration data (MaxB_Transpiration_5Sites.daily_sums.h.txt) from Ryken (2021), used to create Supplementary Figures A22 and A23, respectively. Raw EcoSLIM model outputs are in excess of 24TB, and are stored on National Energy Research Scientific Computing Center (NERSC) and publicly available via the external link provided in the paper.

atmospheric warming

Evidence of Completion of Milestone 4: Simulation Testbed Validated with Experimental Data

Milestone 4 is given in the SOPO as being due in quarter 5 (ending 9/11/2020) and is described thus: Milestone 4: Enhanced Simulation Testbed Validated with Experimental Data (UM, Mathieu) Simulation testbed validated with data obtained from experimental testbed, specifically, nonlinear load behaviors and communication network issues observed in the experimental testbed will be modeled in the simulation testbed. The simulation testbed should accurately capture TCL real and reactive power consumption (including during extreme events associated with nonlinear behaviors and communication network failures) to within 5% RMSE error with respect to data obtained from the experimental testbed.

99 GENERAL AND MISCELLANEOUS

Transportable Applications Environment Plus

Transportable Applications Environment Plus (TAE+) is integrated, portable program providing environment for developing and running interactive window, text, and graphical object-based application software systems. Enables construction of custom application interface and moving applications to different computers. Components are WorkBench, tool for design of user interface; WPT's (Window Programming Tools) package, set of callable subroutines controlling user interface; and TAE Command Language (TCL), providing ways to develop executable application prototype with run-time-interpreted language. Uses MIT X-Window System, WorkBench and WPT's written in C++, remaining code in C.

Source record

A versatile system for processing geostationary satellite data with run-time visualization capability

To better predict global climate change, scientists are developing climate models that require interdisciplinary and collaborative efforts in their building. We are currently involved in several such projects but will briefly discuss activities in support of two such complementary projects: the Atmospheric Radiation Measurement (ARM) program of the Department of Energy and Sequoia 2000, a joint venture of the University of California, the private sector, and government agencies. Our contribution to the ARM program is to investigate the role of clouds on the top of the atmosphere and on surface radiance fields through the data analysis of surface and satellite observations and complex modeling of the interaction of radiation with clouds. One of our first ARM research activities involves the computation of the broadband shortwave surface irradiance from satellite observations. Geostationary satellite images centered over the first ARM observation site are received hourly over the Internet network and processed in real time to compute hourly and daily composite shortwave irradiance fields. The images and the results are transferred via a high-speed network to the Sequoia 2000 storage facility in Berkeley, where they are archived These satellite-derived results are compared with the surface observations to evaluate the accuracy of the satellite estimate and the spatial representation of the surface observations. In developing the software involved in calculating the surface shortwave irradiance, we have produced an environment whereby we can easily modify and monitor the data processing as required. Through the principles of modular programming, we have developed software that is easily modified as new algorithms for computation are developed or input data availability changes. In addition, the software was designed so that it could be run from an interactive, icon-driven, graphical interface, TCL-TK, developed by Sequoia 2000 participants. In this way, the data flow can be interactively assessed and altered as needed. In this environment, the intermediate data processing 'images' can be viewed, enabling the investigator to easily monitor the various data processing steps as they progress. Additionally, this environment allows the rapid testing of new processing modules and allows their effects to be visually compared with previous results.

Landsfeld, M.

Tools for automating spacecraft ground systems: The Intelligent Command and Control (ICC) approach

The practical application of scripting languages and World Wide Web tools to the support of spacecraft ground system automation, is reported on. The mission activities and the automation tools used at the Goddard Space Flight Center (MD) are reviewed. The use of the Tool Command Language (TCL) and the Practical Extraction and Report Language (PERL) scripting tools for automating mission operations is discussed together with the application of different tools for the Compton Gamma Ray Observatory ground system.

Stoffel, A. William

HEASARC Software Archive

(1) Chandra Archive: SAO has maintained the interfaces through which HEASARC gains access to the Chandra Data Archive. At HEASARC's request, we have implemented an anonymous ftp copy of a major part of the public archive and we keep that archive up-to- date. SAO has participated in the ADEC interoperability working group, establishing guidelines or interoperability standards and prototyping such interfaces. We have provided an NVO-based prototype interface, intending to serve the HEASARC-led NVO demo project. HEASARC's Astrobrowse interface was maintained and updated. In addition, we have participated in design discussions surrounding HEASARC's Caldb project. We have attended the HEASARC Users Group meeting and presented CDA status and developments. (2) Chandra CALDB: SA0 has maintained and expanded the Chandra CALDB by including four new data file types, defining the corresponding CALDB keyword/identification structures. We have provided CALDB upgrades for the public (CIAO) and for Standard Data Processing. Approximately 40 new files have been added to the CALDB in these version releases. There have been in the past year ten of these CALDB upgrades, each with unique index configurations. In addition, with the inputs from software, archive, and calibration scientists, as well as CIAO/SDP software developers, we have defined a generalized expansion of the existing CALDB interface and indexing structure. The purpose of this is to make the CALDB more generally applicable and useful in new and future missions that will be supported archivally by HEASARC. The generalized interface will identify additional configurational keywords and permit more extensive calibration parameter and boundary condition specifications for unique file selection. HEASARC scientists and developers from SAO and GSFC have become involved in this work, which is expected to produce a new interface for general use within the current year. (3) DS9: One of the decisions that came from last year's HEADCC meeting was to make the ds9 image display program the primary vehicle for displaying line graphics (as well as images). The first step required to make this possible was to enhance the line graphics capabilities of ds9. SAO therefore spent considerable effort upgrading ds9 to use Tcl 8.4 so that the BLT line graphics package could be built and imported into ds9 from source code, rather than from a pre-built (and generally outdated) shared library. This task, which is nearly complete, allows us to extend BLT as needed for the HEAD community. Following HEADCC discussion concerning archiving and the display of archived data, we extended ds9 to support full access to many astronomical Web-based archives sites, including HEASARC, MAST, CHANDRA, SKYVIEW, ADS, NED, SIMBAD, IRAS, NVRO, SAO TDC, and FIRST. Using ds9's new internal Web access capabilities, these archives can be accessed via their Web page. FITS images, plots, spectra, and journal abstracts can be referenced, down-loaded, and displayed directly and easily in ds9. For more information, see: http://hea-www.harvard.edu/saord/ds9. Also after the HEADCC discussion concerning region filtering, we extended the Funtools sample implementation of region filtering as described in: http://hea-www.harvard.edu/saord/funtools/regions.html. In particular, we added several new composite regions for event and image filtering, including elliptical and box annuli. We also extended the panda (Pie AND Annulus) region support to include box pandas and elliptical pandas. These new composite regions are especially useful in programs that need to count photons in each separate region using only a single pass through the data. Support for these new regions was added to ds9. In the same vein, we developed new region support for filtering images using simple FITS image masks, i.e. 8-bit or 16-bit FITS images where the value of a pixel is the region id number for that pixel. Other important enhancements to DS9 this year, include supporor multiple world coordinate systems, three dimensional event file binning, image smoothing, region groups and tags, the ability to save images in a number of image formats (such as JPEG, TIFF, PNG, FITS), improvements in support for integrating external analysis tools, and support for the virtual observatory. In particular, a full-featured web browser has been implemented within D S 9 . This provides support for full access to HEASARC archive sites such as SKYVIEW and W3BROWSE, in addition to other astronomical archives sites such as MAST, CHANDRA, ADS, NED, SIMBAD, IRAS, NVRO, SA0 TDC, and FIRST. From within DS9, the archives can be searched, and FITS images, plots, spectra, and journal abstracts can be referenced, downloaded and displayed The web browser provides the basis for the built-in help facility. All DS9 documentation, including the reference manual, FAQ, Know Features, and contact information is now available to the user without the need for external display applications. New versions of DS9 maybe downloaded and installed using this facility. Two important features used in the analysis of high energy astronomical data have been implemented in the past year. The first is support for binning photon event data in three dimensions. By binning the third dimension in time or energy, users are easily able to detect variable x-ray sources and identify other physical properties of their data. Second, a number of fast smoothing algorithms have been implemented in DS9, which allow users to smooth their data in real time. Algorithms for boxcar, tophat, and gaussian smoothing are supported.

White, Nicholas

Automated testing of the Deep Space Network's Uplink Subsystem

This paper describes some of the lessons we learned in implementing two different Tcl-basedtest frameworks used to automate testing of the Deep Space Network's new Uplink Subsystem, and discusses the advantages and disadvantages of each. The first framework was external to the Uplink Subsystem's software and provided complete control of the environment; the second was integrated with the software and provided less control, but motivated more and better testing. Some implementation details of the second frameworkare discussed as well.

DSN automated testing Tcl/Tk

An Idealized, Single Radial Swirler, Lean-Direct-Injection (LDI) Concept Meshing Script

To easily study combustor design parameters using computational fluid dynamics codes (CFD), a Gridgen Glyph-based macro (based on the Tcl scripting language) dubbed BladeMaker has been developed for the meshing of an idealized, single radial swirler, lean-direct-injection (LDI) combustor. BladeMaker is capable of taking in a number of parameters, such as blade width, blade tilt with respect to the perpendicular, swirler cup radius, and grid densities, and producing a three-dimensional meshed radial swirler with a can-annular (canned) combustor. This complex script produces a data format suitable for but not specific to the National Combustion Code (NCC), a state-of-the-art CFD code developed for reacting flow processes.

Iannetti, Anthony C.

Solving Equations of Multibody Dynamics

Darts++ is a computer program for solving the equations of motion of a multibody system or of a multibody model of a dynamic system. It is intended especially for use in dynamical simulations performed in designing and analyzing, and developing software for the control of, complex mechanical systems. Darts++ is based on the Spatial-Operator- Algebra formulation for multibody dynamics. This software reads a description of a multibody system from a model data file, then constructs and implements an efficient algorithm that solves the dynamical equations of the system. The efficiency and, hence, the computational speed is sufficient to make Darts++ suitable for use in realtime closed-loop simulations. Darts++ features an object-oriented software architecture that enables reconfiguration of system topology at run time; in contrast, in related prior software, system topology is fixed during initialization. Darts++ provides an interface to scripting languages, including Tcl and Python, that enable the user to configure and interact with simulation objects at run time.

Jain, Abhinandan

Evaluation of the Rotational Throttle Interface for Converting Aircraft Utilizing the NASA Ames Vertical Motion Simulator

An experiment was conducted to compare a conventional helicopter Thrust Control Lever (TCL) to the Rotational Throttle Interface (RTI) for tiltrotor aircraft. The RTI is designed to adjust its orientation to match the angle of the tiltrotor s nacelles. The underlying principle behind the design is to increase pilot awareness of the vehicle s configuration state (i.e. nacelle angle). Four test pilots flew multiple runs on seven different experimental courses. Three predominant effects were discovered in the testing of the RTI: 1. Unintentional binding along the control axis resulted in difficulties with precision power setting, 2. Confusion in which way to move the throttle grip was present during RTI transition modes, and 3. Pilots were not able to distinguish small angle differences during RTI transition. In this experiment the pilots were able to successfully perform all of the required tasks with both inceptors although the handling qualities ratings were slightly worse for the RTI partly due to unforeseen deficiencies in the design. Pilots did however report improved understanding of nacelle movement during transitions with the RTI.

Rozovski, David

Unmanned Aircraft Systems Traffic Management (UTM) Safely Enabling UAS Operations in Low-Altitude Airspace

Unmanned Aircraft System (UAS) Traffic Management (UTM) Enabling Civilian Low-Altitude Airspace and Unmanned Aircraft System Operations What is the problem? Many beneficial civilian applications of UAS have been proposed, from goods delivery and infrastructure surveillance, to search and rescue, and agricultural monitoring. Currently, there is no established infrastructure to enable and safely manage the widespread use of low-altitude airspace and UAS operations, regardless of the type of UAS. A UAS traffic management (UTM) system for low-altitude airspace may be needed, perhaps leveraging concepts from the system of roads, lanes, stop signs, rules and lights that govern vehicles on the ground today, whether the vehicles are driven by humans or are automated. What system technologies is NASA exploring? Building on its legacy of work in air traffic management for crewed aircraft, NASA is researching prototype technologies for a UAS Traffic Management (UTM) system that could develop airspace integration requirements for enabling safe, efficient low-altitude operations. While incorporating lessons learned from the today's well-established air traffic management system, which was a response that grew out of a mid-air collision over the Grand Canyon in the early days of commercial aviation, the UTM system would enable safe and efficient low-altitude airspace operations by providing services such as airspace design, corridors, dynamic geofencing, severe weather and wind avoidance, congestion management, terrain avoidance, route planning and re-routing, separation management, sequencing and spacing, and contingency management. One of the attributes of the UTM system is that it would not require human operators to monitor every vehicle continuously. The system could provide to human managers the data to make strategic decisions related to initiation, continuation, and termination of airspace operations. This approach would ensure that only authenticated UAS could operate in the airspace. In its most mature form, the UTM system could be developed using autonomicity characteristics that include self-configuration, self-optimization and self-protection. The self-configuration aspect could determine whether the operations should continue given the current andor predicted windweather conditions. NASA envisions concepts for two types of possible UTM systems. The first type would be a Portable UTM system, which would move from between geographical areas and support operations such as precision agriculture and disaster relief. The second type of system would be a Persistent UTM system, which would support low-altitude operations and provide continuous coverage for a geographical area. Either system would require persistent communication, navigation, and surveillance (CNS) coverage to track, ensure, and monitor conformance. What is NASA doing to test the technologies? NASA's near-term goal is the development and demonstration of a possible future UTM system that could safely enable low-altitude airspace and UAS operations. Working alongside many committed government, industry and academic partners, NASA is leading the research, development and testing that is taking place in a series of activities called Technology Capability Levels (TCL), each increasing in complexity. UTM TCL1 concluded field testing in August 2015 and is undergoing additional testing at an FAA site.

UTM Low-altitude

TCL2 Ocean Scenario Replay

This is a video replay of system data that was generated from the UAS Traffic Management (UTM) Technical Capability Level (TCL) 2 flight demonstration in Nevada and rendered in Google Earth. What is depicted in the replay is a particular set of flights conducted as part of what was referred to as the Ocean scenario. The test range and surrounding area are presented followed by an overview of operational volumes. System messaging is also displayed as well as a replay of all of the five test flights as they occurred.

Mohlenbrink, Christoph P.

Unmanned Aircraft Systems (UAS) Traffic Management (UTM) National Campaign II

The Unmanned Aircraft System (UAS) Traffic Management (UTM) effort at NASA aims to enable access to low-altitude airspace for small UAS. This goal is being pursued partly through partnerships that NASA has developed with the UAS stakeholder community, the FAA, other government agencies, and the designated FAA UAS Test Sites. By partnering with the FAA UAS Test Sites, NASA's UTM project has performed a geographically diverse, simultaneous set of UAS operations at locations in six states. The demonstrations used an architecture that was developed by NASA in partnership with the FAA to safely coordinate such operations. These demonstrations-the second or 'Technical Capability Level (TCL 2)' National Campaign of UTM testing-was performed from May 15 through June 9, 2017. Multiple UAS operations occurred during the testing at sites located in Alaska, Nevada, Texas, North Dakota, Virginia, and New York with multiple organizations serving as UAS Service Suppliers and/or UAS Operators per the specifications provided by NASA. By engaging various members of the UAS community in development and operational roles, this campaign provided initial validation of different aspects of the UTM concept including: UAS Service Supplier technologies and procedures; geofencing technologies/conformance monitoring; ground-based surveillance/sense and avoid; airborne sense and avoid; communication, navigation, surveillance; and human factors related to UTM data creation and display. Additionally, measures of performance were defined and calculated from the flight data to establish quantitative bases for comparing flight test activities and to provide potential metrics that might be routinely monitored in future operational UTM systems.

Aweiss, Arwa S.

Unmanned Aircraft System Traffic Management (UTM) Research Transition Team (RTT) Concept Working Group - Concept & Use Cases Package #2 Addendum: Technical Capability Level 3

This document is a product of the joint NASA and FAA Research Transition Team's (RTT) Concept Working Group (CWG) as part of the UAS Traffic Management (UTM) project. The scope of the document covers Technical Capability Level (TCL) 3 of the UTM research path and presents the 1) Terms and Definitions, 2) Foundational Principles, 3) Concept Narratives, 4) Use Cases, 5) Operational Views (OVs), and 6) Roles and Responsibilities of actors interacting within a TCL3 environment. The document includes additional use cases to accompany the RTT CWG Package #2 document.

UTM