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NASA NTRS2014

Conservation of Mass and Preservation of Positivity with Ensemble-Type Kalman Filter Algorithms

This paper considers the incorporation of constraints to enforce physically based conservation laws in the ensemble Kalman filter. In particular, constraints are used to ensure that the ensemble members and the ensemble mean conserve mass and remain nonnegative through measurement updates. In certain situations filtering algorithms such as the ensemble Kalman filter (EnKF) and ensemble transform Kalman filter (ETKF) yield updated ensembles that conserve mass but are negative, even though the actual states must be nonnegative. In such situations if negative values are set to zero, or a log transform is introduced, the total mass will not be conserved. In this study, mass and positivity are both preserved by formulating the filter update as a set of quadratic programming problems that incorporate non-negativity constraints. Simple numerical experiments indicate that this approach can have a significant positive impact on the posterior ensemble distribution, giving results that are more physically plausible both for individual ensemble members and for the ensemble mean. In two examples, an update that includes a non-negativity constraint is able to properly describe the transport of a sharp feature (e.g., a triangle or cone). A number of implementation questions still need to be addressed, particularly the need to develop a computationally efficient quadratic programming update for large ensemble.

EnKF↗
NASA NTRS2014

The Parallel System for Integrating Impact Models and Sectors (pSIMS)

We present a framework for massively parallel climate impact simulations: the parallel System for Integrating Impact Models and Sectors (pSIMS). This framework comprises a) tools for ingesting and converting large amounts of data to a versatile datatype based on a common geospatial grid; b) tools for translating this datatype into custom formats for site-based models; c) a scalable parallel framework for performing large ensemble simulations, using any one of a number of different impacts models, on clusters, supercomputers, distributed grids, or clouds; d) tools and data standards for reformatting outputs to common datatypes for analysis and visualization; and e) methodologies for aggregating these datatypes to arbitrary spatial scales such as administrative and environmental demarcations. By automating many time-consuming and error-prone aspects of large-scale climate impacts studies, pSIMS accelerates computational research, encourages model intercomparison, and enhances reproducibility of simulation results. We present the pSIMS design and use example assessments to demonstrate its multi-model, multi-scale, and multi-sector versatility.

crop modeling↗
NASA NTRS2013

Dynamics and Control of a Disordered System in Space

In this paper, we present some ideas regarding the modeling, dynamics and control aspects of granular spacecraft. Granular spacecraft are complex multibody systems composed of a spatially disordered distribution of a large number of elements, for instance a cloud of N grains in orbit, with N greater than 10(exp 3). These grains can be large (Cubesat-size) or small (mm-size), and can be active, i.e., a fully equipped vehicle capable sensing their own position and attitude, and enabled with propulsion means, or entirely passive. The ultimate objective would be to study the behavior of the single grains and of large ensembles of grains in orbit and to identify ways to guide and control the shape of a cloud composed of these grains so that it can perform a useful function in space, for instance, as an element of an optical imaging system for astrophysical applications. This concept, in which the aperture does not need to be continuous and monolithic, would increase the aperture size several times compared to large NASA observatories such as ATLAST, allowing for a true Terrestrial Planet Imager that would be able to resolve exo-planet details and do meaningful spectroscopy on distant world. In the paper, we address the modeling and autonomous operation of a distributed assembly (the cloud) of large numbers of highly miniaturized space-borne elements (the grains). A multi-scale, multi-physics model is proposed of the dynamics of the cloud in orbit, as well as a control law for cloud shape maintenance, and preliminary simulation studies yield an estimate of the computational effort, indicating a scale factor of approximately N(exp 1.4) as a function of the number of grains. A granular spacecraft can be defined as a collection of a large number of space-borne elements (in the 1000s) designed and controlled such that a desirable collective behavior emerges, either from the interactions among neighboring grains, and/or between the grains and the environment. In this paper, each grain is considered to be a highly miniaturized spacecraft which has limited size and mass, hence it has limited actuation, limited propulsive capability, limited power, limited sensing, limited communication, limited computational resources, limited range of motion, limited lifetime, and may be expendable. The modeling and dynamics of clouds of vehicles is more challenging than with conventional vehicles because we are faced with a probabilistic vehicle composed of a large number of physically disconnected vehicles. First, different scales of motion occur simultaneously in a cloud: translations and rotations of the cloud as a whole (macro-dynamics), relative rotation and translation of one cloud member with respect to another (meso-dynamics), and individual cloud member dynamics (micro-dynamics). Second, the control design needs to be tolerant of the system complexity, of the system architecture (centralized vs. decentralized large scale system control) as well as robust to un-modeled dynamics and noise sources. Figure 1, top left, shows the kinematic parameters of a 1000 element cloud in orbit. The motion of the system is described with respect to a local vertical-local horizontal (LV-LH) orbiting reference frame (x,y,z)=F(sub ORF) of origin O(sub ORF) which rotates with mean motion omega and orbital semi-major axis R(sub 0). The orbital geometry at the initial time is defined in terms of its six orbital elements, and the orbital dynamics equation for point O(sub ORF) is propagated forward in time under the influence of the gravitational field of the primary and other external perturbations, described below. The origin of this frame coincides with the initial position of the center of mass of the system, and the coordinate axes are z along the local vertical, x toward the flight direction, and y in the orbit normal direction. The assumptions we used to model the dynamics are as follows: 1) The inertial frame is fixed at Earth's center. 2) The orbiting Frame ORF follows Keplerian orbit. 3) the cloud system dynamics is referred to ORF. 4) the attitude of each grain uses the principal body frame as body fixed frame. 5) the atmosphere is assumed to be rigidly rotating with the Earth. Regarding the grains forming the cloud: 1) each grain is modeled as a rigid body; 2) a simple attitude estimator provides attitude estimates, 3) a simple guidance logic commands the position and attitude of each grain, 4) a simple local feedback controller based on PD control of local states is used to stabilize the attitude of the vehicle. Regarding the cloud: 1) the cloud as a whole is modeled as an equivalent rigid body in orbit, and 2) an associated graph establishes agent connectivity and enables coupling between modes of motion at the micro and macro scales; 3) a simple guidance and estimation logic is modeled to estimate and command the attitude of this equivalent rigid body; 4) a cloud shape maintenance controller is based on the dynamics of a stable virtual truss in the orbiting frame. Regarding the environmental perturbations acting on the cloud: 1) a non-spherical gravity field including JO (Earth's spherical field) zonal component, J2 (Earth's oblateness) and J3 zonal components is implemented; 2) atmospheric drag is modeled with an exponential model; 3) solar pressure is modeled assuming the Sun is inertially fixed; and 4) the Earth's magnetic field is model using an equivalent dipole model. The equations of motion are written in a referential system with respect to the origin of the orbiting frame and the state is propagated forward in time using an incremental predictor-corrector scheme. A representative cloud with varying number of grains is simulated to identify the limitations in computation time as the number of grains grows. We derive a control law to track a desired surface in the ORF (equivalently to maintain a reference cloud shape) by defining an error from a desired surface shape, and designing a control law that is exponentially stable and reduces the tracking error to zero. Figure 1 (top right) shows a comparison of various requirements for simulation of single spacecraft vs. granular spacecraft, indicating the high degree of complexity that needs to be taken into consideration. The ORF components of control force required by one of the grains is, for this particular case, in the micro-Newton range. However, no attempt has been made yet to reconfigure (or re-orient) the cloud configuration internally, for which forces in the milli-Newton level are expected, depending on the time required to do the reconfiguration. Figure 1, bottom, shows the computation time as a function of the number of grains, indicating an order N(exp 1.43) scaling on a 8 Gb, 1067 MHz RAM MacOSX computer with a 3.06 GHz Intel Core 2 Duo processor. With this metric, the same simulation for a system of N=1000 grains would take 5.4 hours, and 146 hours (i.e., 6 days) for a system with N=10,000 grains. Therefore, efficient ways to simulate this complex system, where not only the time scales of natural system dynamics, but also the sampling times of the Guidance, Navigation, and Control are included, remain to be explored. Additional details on the cloud modeling, dynamics, and control will be described in the paper.

simulation↗
NASA NTRSDate not supplied

Consistent Pixel Resolution Characterization of Deep Convective Clouds for Calibration

The NASA CERES project provides global TOA shortwave and longwave fluxes for climate monitoring and validation that spans over 20 years. CERES utilizes broadband fluxes derived from geostationary (GEO) imagers to estimate broadband fluxes between the CERES observations. In order for these fluxes to be viable, the GEO imager calibration must be stable over time. One such calibration method used by CERES is to evaluate ensemble sets of deep convective clouds (DCC) as invariant targets (IT) over time. DCC targets can also provide radiometric scaling between sensors. An international collaboration through GSICS is also evaluating the DCC-IT calibration methodology to provide consistent calibration coefficients across geostationary sensors. Tropical DCC are the coldest, brightest, and most Lambertian TOA Earth targets identified using a window channel brightness temperature threshold. The DCC-IT technique involves a large ensemble of TOA pixel-level reflectances, which are binned into probability density functions (PDF). The PDF structure dependency on sensor pixel resolution, which can vary greatly among sensors, is not well known. This study will identify the impact of pixel resolution on the DCC PDFs by aggregating VIIRS and Landsat OLI/TIRS pixel resolutions into various coarser pixel resolutions and comparing the shape and statistics of the resulting PDFs. This study should assist in mitigating the pixel resolution dependency in the DCC-IT approach for providing scaling factors between sensors.

Conor Haney↗
NASA NTRS1985

Temporal variations in predictability

Those characteristics which most significantly contribute to temporal variations in error growth are presently examined in light of a large ensemble of predictability runs conducted in the course of a long equilibrium run in a two-level, nonlinear, quasi-geostrophic model which incorporates orography. In the error spectrum thus developed, all scales grow with a similar doubling time until saturation is first reached at the smallest scales. Due to a lag relationship between equilibrium kinetic energy and available potential energy, it is possible to marginally predict times of small and large error growth.

Roads, J. O.↗
NASA NTRS1992

Persistence and predictability in a perfect model

A realistic two-level GCM is used to examine the relationship between predictability and persistence. Predictability is measured by the average divergence of ensembles of solutions starting from perturbed initial conditions, and persistence is defined in terms of the autocorrelation function based on a single long-term model integration. The average skill of the dynamical forecasts is compared with the skill of simple persistence-based statistical forecasts. For initial errors comparable in magnitude to present-day analysis errors, the statistical forecast loses all skill after about one week, reflecting the lifetime of the lowest frequency fluctuations in the model. Large ensemble mean dynamical forecasts would be expected to remain skillful for about 3 wk. The disparity between the skill of the statistical and dynamical forecasts is greater for the higher frequency modes, which have little memory beyond 1 d, yet remain predictable for about 2 wk. The results are analyzed in terms of two characteristic time scales.

Schubert, Siegfried D.↗
NASA NTRS2024

Predictability of the Minimum Sea Ice Extent from Winter Fram Strait Ice Area Export: Model vs Observations

Observations show predictive skill of the minimum sea ice extent (Min SIE) from late winter anomalous off-shore ice drift along the Eurasian coastline – leading to local ice thickness anomalies at the onset of the melt season – a signal then amplified by the ice-albedo feedback. We assess whether the observed seasonal predictability of September sea ice extent (Sept SIE) from Fram Strait Ice Area Export (FSIAE, a proxy for Eurasian coastal divergence) is present in Global Climate Model (GCM) large ensembles, namely the CESM2-LE, GISS-E2.1-G, FLOR-LE, CNRM-CM6-1, and CanESM5. All models show distinct periods where winter FSIAE anomalies are negatively correlated with the May sea ice thickness (May SIT) anomalies along the Eurasian coastline, and the following Sept Arctic SIE, as in observations. Counter-intuitively, several models show occasional periods where winter FSIAE anomalies are positively correlated with the following Sept SIE anomalies when the mean ice thickness is large or late in the simulation when the sea ice is thin, and/or when internal variability increases. More importantly, periods with weak correlation between FSIAE and the Sept SIE dominate, suggesting that summer melt processes dominate over late winter preconditioning and May SIT anomalies. In general, we find that the coupling between the FSIAE and ice thickness anomalies along the Eurasian coastline is an ubiquitous feature of GCMs and that the relationship with the following Sept SIE is dependent on the mean Arctic sea ice thickness.

off-shore ice drift↗
NASA NTRS1993

Large-scale isentropic mixing properties of the Antarctic polar vortex from analyzed winds

Winds derived from analyzed geopotential height fields are used to study quasi-horizontal mixing by the large-scale flow in the lower stratosphere during austral spring. This is the period when the Antarctic ozone hole appears and disappears. Trajectories are computed for large ensembles of particles initially inside and outside the main polar vortex. Mixing and transport are diagnosed through estimates of finite time Lyapunov exponents and Lagrangian dispersion statistics of the tracer trajectories. At 450 K and above prior to the vortex breakdown: Lyapunov exponents are a factor of 2 smaller inside the vortex than outside; diffusion coefficients are an order of magnitude smaller inside than outside the vortex; and the trajectories reveal little exchange of air across the vortex boundary. At lower levels (425 and 400 K) mixing is greater, and there is substantial exchange of air across the vortex boundary. In some years there are large wave events that expel small amounts of vortex air into the mid-latitudes. At the end of the spring season during the vortex breakdown there is rapid mixing of air across the vortex boundary, which is evident in the mixing diagnostics and the tracer trajectories.

Bowman, Kenneth P.↗
NASA NTRS2023

Effects of Forcing Differences and Initial Conditions on Inter-Model Agreement in the VolMIP Volc-Pinatubo-Full Experiment

This paper provides initial results from a multi-model ensemble analysis based on the volc-pinatubo-full experiment performed within the Model Intercomparison Project on the climatic response to Volcanic forcing (VolMIP) as part of the sixth phase of the Coupled Model Intercomparison Project (CMIP6). The volc-pinatubo-full experiment is based on an ensemble of volcanic forcing-only climate simulations with the same volcanic aerosol dataset across the participating models (the 1991–1993 Pinatubo period from the CMIP6-GloSSAC dataset). The simulations are conducted within an idealized experimental design where initial states are sampled consistently across models from the CMIP6-piControl simulation providing unperturbed preindustrial background conditions. The multi-model ensemble includes output from an initial set of six participating Earth system models (CanESM5, GISS-E2.1-G, IPSL-CM6A-LR, MIROC-E2SL, MPI-ESM1.2-LR and UKESM1). The results show overall good agreement between the different models on the global and hemispheric scales concerning the surface climate responses, thus demonstrating the overall effectiveness of VolMIP's experimental design. However, small yet significant inter-model discrepancies are found in radiative fluxes, especially in the tropics, that preliminary analyses link with minor differences in forcing implementation; model physics, notably aerosol–radiation interactions; the simulation and sampling of El Niño–Southern Oscillation (ENSO); and, possibly, the simulation of climate feedbacks operating in the tropics. We discuss the volc-pinatubo-full protocol and highlight the advantages of volcanic forcing experiments defined within a carefully designed protocol with respect to emerging modelling approaches based on large ensemble transient simulations. We identify how the VolMIP strategy could be improved in future phases of the initiative to ensure a cleaner sampling protocol with greater focus on the evolving state of ENSO in the pre-eruption period.

metadata↗
NASA NTRS1995

Profiles of Gamma-Ray Bursts and Their Component Pulses

One physically informative regularity of their otherwise heterogeneous ensemble, is that many Gamma-Ray Bursts consist of well defined pulses. To objectively quantify the temporal structure of BATSE bursts, we have developed an automatic modeling procedure that separates overlapping pulses and determines the energy-dependence of the pulse-shape parameters. No binning of photon arrival times is needed, so when applied to time-tagged events (TTE) the procedure captures variability information down to the shortest time scales present in the raw data. Maximizing the Bayesian likelihood function Pr(data/model) yields estimates of the model parameters, including the number of pulses present, and allows intercomparison of models of different forms. As with any nonlinear optimization, good initial guesses are crucial to avoid convergence to undesirable local minima. We find excellent initial pulse decompositions by wavelet-denoising a cumulative distribution of the raw photon arrival data; differentiation then gives a time profile mostly free of the systematic effects of degraded resolution (as in ordinary Fourier smoothing) and binning. We present statistical information on pulse rise-time, decay-time, peakedness, and amplitudes, plus their energy dependences - both within a single burst and for a large ensemble of bursts.

Scargle, Jeff D.↗
NASA NTRS1975

Simulation of the velocity diffusion of charged particles in turbulent magnetic fields

Numerical simulation experiments have been performed in order to study the velocity diffusion of charged particles in a static turbulent magnetic field. By following orbits of particles moving in a large ensemble of random magnetic field realizations with suitably-chosen statistical properties, a pitch-angle diffusion coefficient is derived. Results are presented for a variety of particle rigidities and r.m.s. random field strengths and a power spectrum typical of conditions found in interplanetary space.

Kaiser, T. B.↗
NASA NTRS1977

Computer simulation of the velocity diffusion of cosmic rays

Monte Carlo simulation experiments were performed in order to study the velocity diffusion of charged particles in a static turbulent magnetic field. By following orbits of particles moving in a large ensemble of random magnetic field realizations with suitable chosen statistical properties, a pitch-angle diffusion coefficient is derived. Results are presented for a variety of particle rigidities and rms random field strengths and compared with the predictions of standard quasi-linear theory and the nonlinear partially averaged field theory.

Kaiser, T. B.↗
NASA NTRS1978

Computer simulation of the velocity diffusion of cosmic rays

Monte Carlo simulation experiments have been performed in order to study the velocity diffusion of charged particles in a static turbulent magnetic field. By following orbits of particles moving in a large ensemble of random magnetic field realizations with suitably chosen statistical properties, a pitch-angle diffusion coefficient is derived. Results are presented for a variety of particle rigidities and rms random field strengths and compared with the predictions of standard quasi-linear theory and the nonlinear partially averaged field theory.

Kaiser, T. B.↗
NASA NTRS1987

Emission line region kinematics in selected Seyfert galaxies

The kinematic state of the emission line regions of active galactic nuclei (AGN) is a fundamental problem which addresses the very nature of these objects. The currently popular model of the energy source of the latter is accretion onto the supermassive black hole which is believed to reside in the nuclear regions of galaxies. If this picture is correct then the emission line gas may be expected to be infalling, and may eventually provide the fuel to power them. It is very difficult to determine the kinematic state of the emission line gas because of the technical problems associated with their small apparent sizes, as seen from the earth. One can only observe the net emission from a large ensemble of clouds, so the emission lines are by necessity composite. Several very long exposures of NGC 1068, one of the very nearest Seyfert galaxies, were obtained. Because of its proximity, it is expected to have the best resolved emission line regions as seen from earth. The La emission line of neutral hydrogen will radiate preferentially in the direction of the central object because of the effects of emission line gas opacity on the transfer of radiation out of the clouds. By obtaining high dispersion observations of Doppler broadening of the line through the small entrance aperture of the IUE one can determine whether this material is in a state of outflow (expected if explosions power the central engine), inflow (expected for accretion onto a massive black hole), or rotation (expected for gas with significant angular momentum near the central regions of a galaxy).

Ferland, G. J.↗
NASA NTRS1992

Dynamically stratified Monte Carlo forecasting

A new method for performing Monte Carlo forecasts is introduced. The method, called dynamic stratification, selects initial perturbations based on a stratification of the error distribution. A simple implementation is presented in which the error distribution used for the stratification is estimated from a linear model derived from a large ensemble of 12-h forecasts with the full dynamic model. The stratification thus obtained is used to choose a small subsample of initial states with which to perform the dynamical Monte Carlo forecasts. Several test cases are studied using a simple two-level general circulation model with uncertain initial conditions. It is found that the method provides substantial reductions in the sampling error of the forecast mean and variance when compared to the more traditional approach of choosing the initial perturbations at random. The degree of improvement, however, is sensitive to the nature of the initial error distribution and to the base state. In practice the method may be viable only if the computational burden involved in obtaining an adequate estimate of the error distribution is shared with the data-assimilation procedure.

Schubert, Siegfried↗
NASA NTRS1993

Computation of large-scale statistics in decaying isotropic turbulence

We have performed large-eddy simulations of decaying isotropic turbulence to test the prediction of self-similar decay of the energy spectrum and to compute the decay exponents of the kinetic energy. In general, good agreement between the simulation results and the assumption of self-similarity were obtained. However, the statistics of the simulations were insufficient to compute the value of gamma which corrects the decay exponent when the spectrum follows a k(exp 4) wave number behavior near k = 0. To obtain good statistics, it was found necessary to average over a large ensemble of turbulent flows.

Chasnov, Jeffrey R.↗
NASA NTRS1994

Consequences of magnetotail ion dynamics

The trajectories of a large ensemble of particles are calculated in a modified Tsyganenko magnetic field model with a uniform cross-tail electric field. The model magnetotail can be divided into several distinct dynamical regimes of ion motion. Near Earth, where the field lines are dipolar the adiabatic formalism is adequate. In the mid-tail and distant tail, guiding-center theory breaks down and must be replaced by a quasi-adiabatic formalism. There is an important transition region between the adiabatic and quasi-adiabatic regions where ion trajectories become more complicated and no simple analytical description holds. This wall region is characterized by rapid ion acceleration and a major loss of particles to the dusk flank. The moments of the ion distribution function are constructued from the ion trajectories, including density, temperature, and pressure in the x-z and x-y planes. In the noon-midnight meridian plane, parameters are relatively constant except near the Earth, while the x-y plots show strong gradients across the magnetotail. Magnetotail plasma convects earthward, drifts toward dusk, and is squeezed out of the tail in the near-Earth region. A thin current sheet forms in the quasi-adiabatic region, and the pressure tensor has significant off-diagonal terms at its edges. These terms are the result of quasi-adiabatic ion trajectories which lead to azimuthally asymmetric distribution functions capable of maintaining approximate stress balance across the current sheet. Simplified analytical descriptions provide further physical insight into ion dynamics that are observed.

Ashour-Abdalla, Maha↗
NASA NTRS2002

Protein Kinase Classification with 2866 Hidden Markov Models and One Support Vector Machine

The main application considered in this paper is predicting true kinases from randomly permuted kinases that share the same length and amino acid distributions as the true kinases. Numerous methods already exist for this classification task, such as HMMs, motif-matchers, and sequence comparison algorithms. We build on some of these efforts by creating a vector from the output of thousands of structurally based HMMs, created offline with Pfam-A seed alignments using SAM-T99, which then must be combined into an overall classification for the protein. Then we use a Support Vector Machine for classifying this large ensemble Pfam-Vector, with a polynomial and chisquared kernel. In particular, the chi-squared kernel SVM performs better than the HMMs and better than the BLAST pairwise comparisons, when predicting true from false kinases in some respects, but no one algorithm is best for all purposes or in all instances so we consider the particular strengths and weaknesses of each.

Weber, Ryan↗