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This paper presents an introduction to the CLEAR system which performs rover command generation and re-planning, the challenges faced maintaining domain specific information in an uncertain environment, and the successes demonstrated with several methods of system testing.
Grassing events, characterized by the release of river vegetation in large quantities, are often responsible for major flow impediments surrounding industrial water intake structures. These sudden flow impediments halt critical municipal functions, such as cooling at energy generating facilities, leading to widespread energy disruptions for surrounding communities. Because the origin and cause of grassing events in rivers are largely unknown, employees at these facilities can only reactively respond after they occur by pausing energy generation to manually remove the accumulation of aquatic vegetation. In 2023, the Dresden Generating Station, in collaboration with the United States Geological Survey, began looking into using remote sensing methodologies to locate floating aquatic vegetation surrounding their intake structure located along the Kankakee River in northern Illinois. This project contributed to this effort by conducting a case study that compared the performance, practicality, and feasibility of using various Earth observations (Landsat 9 OLI-2, Landsat 8 OLI, Sentinel-2 MSI, and DOVE PlanetScope) and vegetation indices (NDVI, EVI, SAVI, and GCI) to monitor aquatic vegetation in the Kankakee River. Additionally, this study incorporated several environmental metrics to identify potential triggers for grassing events. Results from this project found that while Landsat sensors provide a lower spatial resolution than commercial satellite Earth observations, areas of aquatic vegetation were similarly identified; therefore, it may not be necessary to acquire expensive, high-resolution datasets for continued monitoring. Finally, preliminary correlation analyses showed a potential negative relationship between the river discharge and the presence of aquatic vegetation (-0.875 correlation coefficient), suggesting that periods of low flow could lead to large releases in aquatic vegetation.
Volcanic eruptions represent a significant source of atmospheric aerosols and can display local, regional and global effects, impacting earth systems and human populations. In order to assess the relative impacts of these events, accurate plume injection altitude measurements are needed. In this work, volcanic plumes generated from seven Kamchatka Peninsula volcanoes (Shiveluch, Kliuchevskoi, Bezymianny, Tolbachik, Kizimen, Karymsky and Zhupanovsky), were identified using over 16 years of Multi-angle Imaging SpectroRadimeter (MISR) measurements. Eighty-eight volcanic plumes were observed by MISR, capturing 3-25% of reported events at individual volcanoes. Retrievals were most successful where high intensity events persisted over a period of weeks to months. Compared with existing ground and airborne observations, and alternative satellite-based reports compiled by the Global Volcanism Program (GVP), MISR plume height retrievals showed general consistency; the comparison reports appear to be skewed towards the region of highest concentration observed in MISR-constrained vertical plume extent. The report observations display less discrepancy with MISR toward the end of the analysis period, with improvements in the suborbital data likely the result of the deployment of new instrumentation. Conversely, the general consistency of MISR plume heights with conventionally reported observations supports the use of MISR in the ongoing assessment of volcanic activity globally, especially where other types of volcanic plume observations are unavailable. Differences between the northern (Shiveluch, Kliuchevskoi, Bezymianny and Tolbachik) and southern (Kizimen, Karymsky and Zhupanovsky) volcanoes broadly correspond to the Central Kamchatka Depression (CKD) and Eastern Volcanic Front (EVF), respectively, geological sub-regions of Kamchatka distinguished by varying magma composition. For example, by comparison with reanalysis-model simulations of local meteorological conditions, CKD plumes generally were less constrained by mid-tropospheric (< 6 km) layers of vertical stability above the boundary layer, suggesting that these eruptions were more energetic than those in the EVF
Weather-related hazards are ubiquitous around the world including: 1) hurricane storm surges, 2) rapid snowmelt and heavy rainfall, 3) severe weather leading to flash floods, and 4) seasonal freeze and thaw of rivers that may lead to ice jams. Each of these hazards affects human settlements and has the potential to impact agricultural productivity. In each setting, end-users in disaster management need access to data processing tools helpful in mapping past and current disasters. Analysis of past events supports risk mitigation by understanding what has already occurred and how to alleviate those impacts in the future. Having capabilities to generate the same products in a response setting means that lessons learned from risk analysis will carry forward to event response. Synthetic aperture radar (SAR) data are particularly useful for these activities due to their all-weather 24/7 monitoring capabilities. In this effort we present HydroSAR, a cloud-based SAR data analysis service for the mapping of meteorological and hydrological disasters as well as their impact on population and agriculture. As part of this project we have developed a series of SAR-based value added products for the monitoring of surface hydrology (image time series, change detection, flood extent, flood depth) and the assessment of impacts on population (flood depth) and agriculture (active agriculture, inundated agriculture, flood duration). We also developed a cloud-based platform for generating these products over affected areas and are working with end-users to integrate derived product into decision-making workflows The paper will briefly introduce the SAR-based products that were developed for this effort. We describe the cloud-based production pipeline that was built to automatically generate these products in near-real time over extended regions. The integration of SAR-based information into hazard preparation and response activities is described for a number of recent disasters including the 2019 forest fires in Alaska, 2019 flooding in the U.S. Midwest, the 2020 U.S. severe weather easter outbreak, 2020 tropical storm Christobal, 2020 cyclone Amphan, 2020, Alaska Spring breakup flooding, and the 2020 flood season in Eastern India, Bangladesh, and Nepal.
Subsystems aboard the Geostationary Operational Environmental Satellites 4 and 5 showed instances of anomalous changes in state corresponding to false commands. Evidence linking the anomalous changes to geomagnetic activity, and presumably static discharges generated by spacecraft differential charging induced by substorm particle injection events is presented. The anomalies are shown to be correlated with individual substorms as monitored by stations of the North American Magnetometer Chain. The relative frequency of the anomalies is shown to be a function of geomagnetic activity. Finally a least squares fit to the time delay between substorm initiation and spacecraft anomaly as a function of spacecraft local time is shown to be consistent with injected electron populations with energy in the range 10 keV to 15 keV, in agreement with present understanding of the spacecraft charging mechanism. The spacecraft elements responsible for the differential charging were not satisfactorily identified. That question is currently under investigation.
Trace driven simulation is a well-established method of performance analysis for single processor computer systems. However, efficient and accurate memory address tracing for parallel computer systems is not well understood. In this paper we present a critical survey of recently implemented approaches to address tracing and highlight the issues specific to collection of traces for both shared and distributed memory parallel computers. These issues include potential distortion of the relative ordering of events by the address tracing activity, realistic interleaving of addresses generated by multiple processors, and I/O and storage problems associated with collecting traces for large parallel systems. The strengths and weaknesses of the parallel tracing approaches are described.
Since the discovery of the 2-3 kHz heliospheric radio emissions in the Voyager data over twelve years ago, there have been two major events, the first in 1983-84 and the second in 1992-93, as well as several minor events. Strong evidence now exists that these radio emissions are generated by interactions that take place in the outer regions of the heliosphere, most likely in response to strong interplanetary shocks and associated disturbances propagating outward from the Sun. Just where these interactions take place is still a subject of controversy. The three main possibilities are at or near the termination shock, between the termination shock and the heliopause and at or near the heliopause. In this paper we will review the present state of knowledge concerning the 2-3 kHz radio emissions, including the most recent data from Voyagers 1 and 2. These observations will then be compared to models that have been proposed to explain the origin of the radio emissions. Depending on the model, various estimates can be made concerning the plasma densities in the region where the radio emission is produced, and the distance to the source. The constraints provided by these models on the size and structure of the heliosphere are discussed.
A highly effective predictive/preview display technique for telerobotic servicing in space under several seconds communication time delay has been demonstrated on a large laboratory scale in May 1993, involving the Jet Propulsion Laboratory as the simulated ground control station and, 2500 miles away, the Goddard Space Flight Center as the simulated satellite servicing set-up. The technique is based on a high-fidelity calibration procedure that enables a high-fidelity overlay of 3-D graphics robot arm and object models over given 2-D TV camera images of robot arm and objects. To generate robot arm motions, the operator can confidently interact in real time with the graphics models of the robot arm and objects overlaid on an actual camera view of the remote work site. The technique also enables the operator to generate high-fidelity synthetic TV camera views showing motion events that are hidden in a given TV camera view or for which no TV camera views are available. The positioning accuracy achieved by this technique for a zoomed-in camera setting was about +/-5 mm, well within the allowable +/-12 mm error margin at the insertion of a 45 cm long tool in the servicing task.
There are two opposing hypotheses about the brain mechanisms underlying sensory event-related potentials (ERPs). One holds that sensory ERPs are generated by phase resetting of ongoing electroencephalographic (EEG) activity, and the other that they result from signal averaging of stimulus-evoked neural responses. We tested several contrasting predictions of these hypotheses by direct intracortical analysis of neural activity in monkeys. Our findings clearly demonstrate evoked response contributions to the sensory ERP in the monkey, and they suggest the likelihood that a mixed (Evoked/Phase Resetting) model may account for the generation of scalp ERPs in humans.
A full-scale crash test of a prototype composite helicopter was performed at the Impact Dynamics Research Facility at NASA Langley Research Center in 1999 to obtain data for validation of a finite element crash simulation. The helicopter was the flight test article built by Sikorsky Aircraft during the Advanced Composite Airframe Program (ACAP). The composite helicopter was designed to meet the stringent Military Standard (MIL-STD-1290A) crashworthiness criteria and was outfitted with two crew and two troop seats and four anthropomorphic dummies. The test was performed at 38-ft/s vertical and 32.5-ft/s horizontal velocity onto a rigid surface. An existing modal-vibration model of the Sikorsky ACAP helicopter was converted into a model suitable for crash simulation. A two-stage modeling approach was implemented and an external user-defined subroutine was developed to represent the complex landing gear response. The crash simulation was executed with a nonlinear, explicit transient dynamic finite element code. Predictions of structural deformation and failure, the sequence of events, and the dynamic response of the airframe structure were generated and the numerical results were correlated with the experimental data to validate the simulation. The test results, the model development, and the test-analysis correlation are described.
To date, the only two data sets offer the potential to examine year-to-year changes in cloud features over an entire Martian year: the Viking Infrared Thermal Mapper (IRTM) data set and the Mars Global Surveyor (MGS) Thermal Emission Spectrometer (TES) data set. We have examined the TES data in the same way in which we examined the Viking IRTM data. This provides water-ice cloud information separated in time by 12 Martian years. Since the data are analyzed with the same method, we obtain a very accurate 'apples to apples' comparison, and can generate a historical record of the subtleties of this annual event. Consequently, it is desirable to compare their results to ours to see what differences exist.
Changes in the seasonal CO(sub 2) flux of the boreal forests may result from increased atmospheric CO(sub 2) concentrations and associated atmospheric warming. To monitor this potential change, a combination of remote sensing information and ecophysiological models are required. In this paper we address the use of synthetic aperture radar (SAR) data to provide some of the input to the ecophysiological models: forest type, freeze/thaw state which limits the growing season for conifers, and leaf on/off state which limits the growing season for deciduous species. AIRSAR data collected in March 1988 during an early thaw event and May 1991 during spring breakup are used to generate species maps and to determine the sensitivity of SAR to canopy freeze/thaw transitions. These data are also used to validate a microwave scattering model which is then used to determine the sensitivity of SAR to leaf on/off and soil freeze/thaw transitions. Finally, a CO(sub 2) flux algorithm which utilizes SAR data and an ecophysiological model to estimate CO(sub 2) flux is presented. CO(sub 2) flux maps are generated from which areal estimates of CO(sub 2) flux are derived.
This study compared random and t-way combinatorial inputs of a network simulator, to determine if these two approaches produce significantly different deadlock detection for varying network configurations. Modeling deadlock detection is important for analyzing configuration changes that could inadvertently degrade network operations, or to determine modifications that could be made by attackers to deliberately induce deadlock. Discrete event simulation of a network may be conducted using random generation, of inputs. In this study, we compare random with combinatorial generation of inputs. Combinatorial (or t-way) testing requires every combination of any t parameter values to be covered by at least one test. Combinatorial methods can be highly effective because empirical data suggest that nearly all failures involve the interaction of a small number of parameters (1 to 6). Thus, for example, if all deadlocks involve at most 5-way interactions between n parameters, then exhaustive testing of all n-way interactions adds no additional information that would not be obtained by testing all 5-way interactions. While the maximum degree of interaction between parameters involved in the deadlocks clearly cannot be known in advance, covering all t-way interactions may be more efficient than using random generation of inputs. In this study we tested this hypothesis for t = 2, 3, and 4 for deadlock detection in a network simulation. Achieving the same degree of coverage provided by 4-way tests would have required approximately 3.2 times as many random tests; thus combinatorial methods were more efficient for detecting deadlocks involving a higher degree of interactions. The paper reviews explanations for these results and implications for modeling and simulation.
A highly effective predictive/preview display technique for telerobotic servicing in space under several seconds communication time delay has been demonstrated on a large laboratory scale in May, 1993, involving the Jet Propulsion Laboratory as the simulated ground control station and, 2500 miles away, the Goddard Space Flight Center as the simulated satellite servicing set-up. The technique isbased on a high-fidelity calibration procedure that enables a high-fidelity overlay of 3-D graphics robot arm and object models over given 2-D TV camera images of robot arm and objects. Togenerate robot arm motions, the operator can confidently interact in real time with the graphics models of the robot arm and objects overlaid on an actual camera view of the remote work site. The technique also enables the operator to generate high-fidelity synthetic TV camera views showing motion events that are hidden in a given TV camera view or for which no TV camera views are available...
A concept that enables advanced airborne reroute operations is proposed, built on NextGen capabilities called Airborne Reroute (ABRR) and Trajectory Option Set (TOS). The concept introduces new third-party services / tools for the airline dispatchers to generate airline-preferred trajectories in response to convective weather events. The airborne TOS routes are sent to the traffic flow managers, who can evaluate the feasibility of the trajectory options with the help of their own third-party services / tools which have been built for this concept. A virtual demonstration study was conducted to elicit feedback from air traffic and airline subject-matter-experts. The feedback was generally positive, both in the benefits of the concept and the feasibility / need for the new tools to enable the concept but their feedback was mixed on the feasibility of the new tools to be third-party services instead of being integrated into their core tools. Nevertheless, this concept explores and demonstrates an evolutionary pathway toward a service-oriented future that shifts the responsibilities and the capabilities of air traffic operations from the air traffic service providers to the airline industry and third-party vendors.
The traditional form of spacecraft commanding is with sequences that specify when commands should execute based on a schedule generated on the ground. Some sequences have control logic and event driven responses to increase flexibility, but it is limited. An approach to increase autonomy is to use goal-based planning and commanding. Using this paradigm, intention and behavior is modeled on board the spacecraft. In this paper we describe MEXEC (Multi-mission EXECutive), a multi-mission, task-based, onboard planning and execution software designed specifically to be used as flight software. As a path to infusion for future flight projects, we describe two experiments performed on the ASTERIA CubeSat and testbed that demonstrate that MEXEC can be integrated and used for spacecraft operations and increase robustness and science return compared to the standard sequences that were being used.
MPISS is an automatic file transfer system that implements a combination of standard and mission-unique transfer protocols required by the Global Precipitation Measurement Mission (GPM) Precipitation Processing System (PPS) to control the flow of data between the MOC and the PPS. The primary features of MPISS are file transfers (both with and without PPS specific protocols), logging of file transfer and system events to local files and a standard messaging bus, short term storage of data files to facilitate retransmissions, and generation of file transfer accounting reports. The system includes a graphical user interface (GUI) to control the system, allow manual operations, and to display events in real time. The PPS specific protocols are an enhanced version of those that were developed for the Tropical Rainfall Measuring Mission (TRMM). All file transfers between the MOC and the PPS use the SSH File Transfer Protocol (SFTP). For reports and data files generated within the MOC, no additional protocols are used when transferring files to the PPS. For observatory data files, an additional handshaking protocol of data notices and data receipts is used. MPISS generates and sends to the PPS data notices containing data start and stop times along with a checksum for the file for each observatory data file transmitted. MPISS retrieves the PPS generated data receipts that indicate the success or failure of the PPS to ingest the data file and/or notice. MPISS retransmits the appropriate files as indicated in the receipt when required. MPISS also automatically retrieves files from the PPS. The unique feature of this software is the use of both standard and PPS specific protocols in parallel. The advantage of this capability is that it supports users that require the PPS protocol as well as those that do not require it. The system is highly configurable to accommodate the needs of future users.
The next generation of Martian rover#s to be launched by JPL are to examine polar regions where temperatures are extremely low and the absence of an earth-like atmosphere results in high levels of cosmic radiation at ground level. Cosmic rays lead to a plethora of radiation effects including Single Event Transients (SET) which can severely degrade microelectronic functionality. As such, a radiation-hardened, temperature compensated CMOS Single-On-Insulator (SOI) Operational Amplifier has been designed for JPL by the University of Tennessee and fabricated by Honeywell using the SOI V process. SOI technology has been shownto be far less sensitive to transient effects than both bulk and epilayer Si. Broad beam heavy-ion tests at the University of Texas A&M using Kr and Xebeams of energy 25MeV/amu were performed to ascertain the duration and severity of the SET for the op-amp configured for a low and high gain application. However, some ambiguity regarding the location of transient formation required the use of a focused MeV ion microbeam. A 36MeV O6(+) microbeam. the Sandia National Laboratory (SNL) was used to image and verify regions of particular concern. This is a viewgraph presentation