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NASA NTRS2021

Observing System Simulation Experiments Investigating Atmospheric Motion Vectors and Radiances from a Constellation of 4–5-μm Infrared Sounders

A set of observing system simulation experiments (OSSEs) was performed to investigate the utility of a constellation of passive infrared spectrometers, strategically designed with the aim of deriving the three-dimensional retrievals of the horizontal wind via atmospheric motion vectors (AMVs) from instruments with the spectral resolution of an infrared sounder. The instrument and constellation designs were performed in the context of the Midwave Infrared Sounding of Temperature and humidity in a Constellation for Winds (MISTiC Winds). The Global Modeling and Assimilation Office OSSE system, which includes a full suite of operational meteorological observations, served as the control. To illustrate the potential impact of this observing strategy, two experiments were performed by adding the new simulated observations to the control. First, perfect (error free) simulated AMVs and radiances were assimilated. Second, the data were made imperfect by adding realistic modeled errors to the AMVs and radiances that were assimilated. The experimentation showed beneficial impacts on both the mass and wind fields, as based on analysis verification, forecast verification, and the assessment of the observations using the forecast sensitivity to observation impact (FSOI) metric. In all variables and metrics, the impacts of the imperfect observations were smaller than those of the perfect observations, although much of the positive benefit was retained. The FSOI metric illustrated two key points. First, the largest impacts were seen in the middle troposphere AMVs, which is a targeted capability of the constellation strategy. Second, the addition of modeled errors showed that the assimilation system was unable to fully exploit the 4.3-μm carbon dioxide absorption radiances.

Will McCarty↗

NASA NTRS2020

Observing System Simulation Experiments Investigating Atmospheric Motion Vectors and Radiances from a Constellation of 4-5 μm Infrared Sounders

A set of Observing System Simulation Experiments (OSSEs) was performed to investigate the utility of a constellation of passive infrared spectrometers, strategically designed with the aim of deriving the three-dimensional retrievals of the horizontal wind via atmospheric motion vectors (AMVs) from instruments with the spectral resolution of an infrared sounder. The instrument and constellation designs were performed in the context of the Midwave Infrared Sounding of Temperature and humidity in a Constellation for Winds, or MISTiC Winds. The Global Modeling and Assimilation Office OSSE system, which includes a full suite of operational meteorological observations, served as the control. To illustrate the potential impact of this observing strategy, two experiments were performed by adding the new simulated observations to the control. First, perfect (error-free) simulated AMVs and radiances were assimilated. Second, the data were made imperfect by adding realistic modeled errors to the AMVs and radiances that were assimilated. The experimentation showed beneficial impacts on both the mass and wind fields, as based on analysis verification, forecast verification, and the assessment of the observations using the Forecast Sensitivity to Observation Impact (FSOI) metric. In all variables and metrics, the impacts of the imperfect observations were smaller than those of the perfect observations, though much of the positive benefit was retained. The FSOI metric illustrated two key points. First, the largest impacts were seen in the middle troposphere AMVs, which is a targeted capability of the constellation strategy. Second, the addition of modeled errors showed that the assimilation system was unable to fully exploit the 4.3 μm carbon dioxide absorption radiances.

Will McCarty↗

NASA NTRSDate not supplied

The Atmosphere Observing System (AOS): Synergistic Aerosol, Cloud, Convection and Precipitation Measurement and Modeling Systems

The 2017 Decadal Survey (DS) highlighted Earth System Science themes, science and application questions, and several high priority objectives that have led to the inclusion of Aerosols (A) and Clouds-Convection-Precipitation (CCP) as Designated Observables (DOs). On June 1, 2018, several NASA centers (GSFC, LaRC, JPL, MSFC, GRC and ARC) submitted a joint Study Plan to the NASA Earth Science Division for the Aerosol (A) and Cloud, Convection, and Precipitation (CCP) Pre-formulation Study (ACCP), with the ACCP Study concluding in early 2021. The new mission now in pre-phase A is being referred to as the Atmosphere Observing System (AOS), an integral part of NASA’s Earth System Observatory (ESO) strategy. The DS and the ACCP team recognized the science merit in combining the A and CCP DOs for both enhancing the ability to address a number of science objectives and also to provide an expanded capability to address additional objectives beyond those of the individual DOs. A critical element of the ACCP observing strategy is to make extensive use of new passive and active sensors as well as of the so-called Program-of-Record (PoR), complemented by a fully integrated sub-orbital component. In order to achieve maximum benefit, all these observations need to be integrated into comprehensive observing and modeling/data assimilation systems. Such an approach requires comprehensive model-data synthesis capabilities that needs to be conceived in conjunction with the space-based and suborbital components of AOS. In this presentation we will summarize the major science goals of AOS including cloud feedbacks, atmospheric convection, emphasizing aerosol processes and aerosol radiative effects, and the synergistic aspects of clouds-precipitation-aerosol interactions. We will describe examples of how AOS data will be used across space and time to better initialize forecasts and train modeling systems, and to infuse models and data assimilation systems with AOS data for advancing operational predictions and to generate expanded hindcasts and reconstruction of the climate record.

Arlindo da Silva↗

NASA NTRS2001

Code Sharing and Collaboration: Experiences from the Scientist's Expert Assistant Project and their Relevance to the Virtual Observatory

In the Virtual Observatory (VO), software tools will perform the functions that have traditionally been performed by physical observatories and their instruments. These tools will not be adjuncts to VO functionality but will make up the very core of the VO. Consequently, the tradition of observatory and system independent tools serving a small user base is not valid for the VO. For the VO to succeed, we must improve software collaboration and code sharing between projects and groups. A significant goal of the Scientist's Expert Assistant (SEA) project has been promoting effective collaboration and code sharing between groups. During the past three years, the SEA project has been developing prototypes for new observation planning software tools and strategies. Initially funded by the Next Generation Space Telescope, parts of the SEA code have since been adopted by the Space Telescope Science Institute. SEA has also supplied code for SOFIA, the SIRTF planning tools, and the JSky Open Source Java library. The potential benefits of sharing code are clear. The recipient gains functionality for considerably less cost. The provider gains additional developers working with their code. If enough users groups adopt a set of common code and tools, defacto standards can emerge (as demonstrated by the success of the FITS standard). Code sharing also raises a number of challenges related to the management of the code. In this talk, we will review our experiences with SEA - both successes and failures - and offer some lessons learned that may promote further successes in collaboration and re-use.

Jones, Jeremy↗

NASA NTRS2001

Code Sharing and Collaboration: Experiences From the Scientist's Expert Assistant Project and Their Relevance to the Virtual Observatory

In the Virtual Observatory (VO), software tools will perform the functions that have traditionally been performed by physical observatories and their instruments. These tools will not be adjuncts to VO functionality but will make up the very core of the VO. Consequently, the tradition of observatory and system independent tools serving a small user base is not valid for the VO. For the VO to succeed, we must improve software collaboration and code sharing between projects and groups. A significant goal of the Scientist's Expert Assistant (SEA) project has been promoting effective collaboration and code sharing among groups. During the past three years, the SEA project has been developing prototypes for new observation planning software tools and strategies. Initially funded by the Next Generation Space Telescope, parts of the SEA code have since been adopted by the Space Telescope Science Institute. SEA has also supplied code for the SIRTF (Space Infrared Telescope Facility) planning tools, and the JSky Open Source Java library. The potential benefits of sharing code are clear. The recipient gains functionality for considerably less cost. The provider gains additional developers working with their code. If enough users groups adopt a set of common code and tools, de facto standards can emerge (as demonstrated by the success of the FITS standard). Code sharing also raises a number of challenges related to the management of the code. In this talk, we will review our experiences with SEA--both successes and failures, and offer some lessons learned that might promote further successes in collaboration and re-use.

Korathkar, Anuradha↗

NASA NTRS1987

Physical properties of asteroids from radar observations

The basic experimental strategies of asteroid radar astronomy are summarized and new information based on recent radar observations about asteroid surface properties is presented. Particular attention is given to the use of radar techniques for constraining asteroid shapes and pole directions. The geometric relationship between a rotating asteroid and its radar echo power spectrum is analyzed.

Ostro, S. J.↗

NASA NTRS2019

Lidar-Polarimeter Retrieval OSSEs in Support of NASA's Aerosols and Clouds-Convection-Precipitation (ACCP) Study

The 2017 Decadal Survey (DS) highlighted Earth System Science themes, science and application questions, and several high priority objectives that have led to the inclusion of Aerosols (A) and Clouds-Convection-Precipitation (CCP) as Designated Observables (DOs). On June 1, 2018, several NASA centers (GSFC, LaRC, JPL, MSFC, GRC and ARC) submitted a joint Study Plan to the NASA Earth Science Division for the Aerosol (A) and Cloud, Convection, and Precipitation (CCP) Pre-formulation Study (A-CCP). The DS and the A-CCP team recognized the science merit in combining the A and CCP DOs for both enhancing the ability to address a number of science objectives and also to provide an expanded capability to address additional objectives beyond those addressed by individual DOs.A critical element of the A-CCP observing strategy is to make extensive use of new passive and active sensors as well as of the so-called Program-of-Record (PoR), complemented by a fully integrated sub-orbital component. Central to this observing system design is the adoption of a Value Framework in which quantitative assessment of the science benefits of space-and air-borne assets is a key element. Given pre-defined A-CCP science objectives and geophysical variables with desired accuracies, A-CCP relies on a spectrum of Observing System Simulation Experiments (OSSEs) aimed at addressing pixel level retrieval uncertainties and sampling trade-offs. In this talk we will discuss a subset of Retrieval OSSEs being considered for A-CCP, namely, synergistic lidar-polarimeter retrievals of particular relevance for the A-CCP aerosol science objectives. Starting with aerosol states from the GEOS-5 Nature Run (G5NR) sampled along specific satellite orbits, we simulate polarized radiances at the desired polarimeter wavelengths with the Vector Linearized Direct Ordinate Radiative Transfer (VLIDORT) model, alongside the lidar signal for the relevant lidars with realistic error characterization. Next, inversions are performed with the Generalized Retrieval of Aerosol and Surface Properties (GRASP) system and the accuracy of the retrieved geophysical variables are assessed. In this presentation we will highlight results for key architectures being considered for A-CCP.

da Silva, Arlindo↗

NASA NTRSDate not supplied

Lidar-Polarimeter Retrieval OSSEs using a Nature Run in Support of NASA's Aerosols, Clouds, Convection and Precipitation (ACCP) Study

The 2017 Decadal Survey (DS) highlighted Earth System Science themes, science and application questions, and several high priority objectives that have led to the inclusion of Aerosols (A) and Clouds-Convection-Precipitation (CCP) as Designated Observables (DOs). On June 1, 2018, several NASA centers (GSFC, LaRC, JPL, MSFC, GRC and ARC) submitted a joint Study Plan to the NASA Earth Science Division for the Aerosol (A) and Cloud, Convection, and Precipitation (CCP) Pre-formulation Study (ACCP). The DS and the ACCP team recognized the science merit in combining the A and CCP DOs for both enhancing the ability to address a number of science objectives and also to provide an expanded capability to address additional objectives beyond those addressed by individual DOs. A critical element of the ACCP observing strategy is to make extensive use of new passive and active sensors as well as of the so-called Program-of-Record (PoR), complemented by a fully integrated sub-orbital component. Central to this observing system design is the adoption of a Value Framework in which quantitative assessment of the science benefits of space- and air-borne assets is a key element. Given pre-defined ACCP science objectives and geophysical variables with desired accuracies, ACCP relies on a spectrum of Observing System Simulation Experiments (OSSEs) aimed at addressing pixel level retrieval uncertainties and sampling trade-offs. In this talk we will discuss a subset of Retrieval OSSEs being considered for ACCP, namely, synergistic lidar-polarimeter retrievals based on observation simulations from the GEOS-5 Nature Run (G5NR). Starting with aerosol states from the GEOS-5 Nature Run (G5NR) sampled along specific satellite orbits, we simulate polarized radiances at the desired polarimeter wavelengths with the Vector Linearized Direct Ordinate Radiative Transfer (VLIDORT) model, alongside the lidar signal for the relevant lidars with realistic error characterization. Next, inversions are performed with the Generalized Retrieval of Aerosol and Surface Properties (GRASP) system and the accuracy of the retrieved geophysical variables are assessed. In this presentation we will highlight results for key architectures being considered for ACCP with emphasis on geophysical variables of particular relevance to ACCP’s aerosol science objectives.

A Da Silva↗

NASA NTRSDate not supplied

Observing System Simulations for the AOS Mission

The Earth System Observatory (ESO) is NASA’s response to the recommendations of the 2017 Earth Sciences Decadal Survey conducted by the US National Academy of Sciences, Engineering and Medicine. The ESO is being conceived as a set of fully integrated missions addressing 4 main Earth science focus areas including aerosols, clouds, convection and precipitation (jointly re-ferred to as AOS, the Atmosphere Observing System). ESO ground breaking observations will provide critical measurements to address societally relevant problems in climate change, natural hazard mitiga-tion, fighting forest fires, and improving real-time agricultural processes. A critical element of the AOS observing strategy is to make extensive use of new passive and active sen-sors as well as of the so-called Program-of-Record (PoR), complemented by a fully integrated sub-orbital component. In order to achieve maximum benefit, all these observations need to be integrated into comprehensive observing and modeling/data assimilation systems. Such an approach requires compre-hensive model-data synthesis capabilities that needs to be conceived in conjunction with the space-based and suborbital components of AOS. In this presentation we will summarize the major science goals of AOS including cloud feedbacks, at-mospheric convection, emphasizing aerosol processes and aerosol radiative effects, and the synergistic aspects of clouds-precipitation-aerosol interactions. We will describe examples of the observing system simulation capabilities being developed for AOS, including global storm resolving nature runs, detailed instrument and retrieval simulators, as well as fast retrieval emulators for instrumenting climate models. This simulation environment, being developed under NASA’s open-source science initiative, will permit us to explore how AOS data will be used across space and time to better initialize forecasts and train modeling systems, and to infuse models and data assimilation systems with AOS data, well before launch.

Arlindo da Silva↗

NASA NTRS2006

Sensor Management for Applied Research Technologies (SMART)-On Demand Modeling (ODM) Project

NASA requires timely on-demand data and analysis capabilities to enable practical benefits of Earth science observations. However, a significant challenge exists in accessing and integrating data from multiple sensors or platforms to address Earth science problems because of the large data volumes, varying sensor scan characteristics, unique orbital coverage, and the steep learning curve associated with each sensor and data type. The development of sensor web capabilities to autonomously process these data streams (whether real-time or archived) provides an opportunity to overcome these obstacles and facilitate the integration and synthesis of Earth science data and weather model output. A three year project, entitled Sensor Management for Applied Research Technologies (SMART) - On Demand Modeling (ODM), will develop and demonstrate the readiness of Open Geospatial Consortium (OGC) Sensor Web Enablement (SWE) capabilities that integrate both Earth observations and forecast model output into new data acquisition and assimilation strategies. The advancement of SWE-enabled systems (i.e., use of SensorML, sensor planning services - SPS, sensor observation services - SOS, sensor alert services - SAS and common observation model protocols) will have practical and efficient uses in the Earth science community for enhanced data set generation, real-time data assimilation with operational applications, and for autonomous sensor tasking for unique data collection.

Goodman, M.↗

NASA NTRS2022

Surface Biology and Geology (SBG) Visible to Short Wavelength Infrared (VSWIR) Wide Swath Instrument Concept

The 2017 Decadal Survey: Thriving on Our Changing Planet, A Decadal Strategy for Earth Observation from Space has called new observations including global coverage Visible to Short Wavelength Infrared (VSWIR) Wide Swath (WS) imaging spectroscopy measurements as part of the Surface Biology and Geology (SBG) Designated Observable. The SBG VSWIR-WS along with the companion SBG Thermal Infrared (TIR) imager is an important element of NASA’s larger Earth System Observatory (ESO).

Walch, Marc↗

NASA NTRS2022

Surface Biology and Geology (SBG) Visible to Short Wavelength Infrared (VSWIR) Wide Swath Instrument Concept

The 2017 Decadal Survey: Thriving on Our Changing Planet, A Decadal Strategy for Earth Observation from Space has called new observations including global coverage VSWIR Wide Swath (VSWIR-WS) imaging spectroscopy measurements as part of the Surface Biology and Geology (SBG) Designated Observable. The SBG VSWIR-WS along with the companion SBG Thermal Infrared (TIR) imager is an important element of NASA’s larger Earth System Observatory (ESO).

Walch, Marc↗

NASA NTRS2011

Variability in Surface BRDF at Different Spatial Scales (30 m-500 m) Over a Mixed Agricultural Landscape as Retrieved from Airborne and Satellite Spectral Measurements

Over the past decade, the role of multiangle remote sensing has been central to the development of algorithms for the retrieval of global land surface properties including models of the bidirectional reflectance distribution function (BRDF), albedo, land cover/dynamics, burned area extent, as well as other key surface biophysical quantities represented by the anisotropic reflectance characteristics of vegetation. In this study, a new retrieval strategy for fine-to-moderate resolution multiangle observations was developed, based on the operational sequence used to retrieve the Moderate Resolution Imaging Spectroradiometer (MODIS) Collection 5 reflectance and BRDF/albedo products. The algorithm makes use of a semiempirical kernel-driven bidirectional reflectance model to provide estimates of intrinsic albedo (i.e., directional-hemispherical reflectance and bihemispherical reflectance), model parameters describing the BRDF, and extensive quality assurance information. The new retrieval strategy was applied to NASA's Cloud Absorption Radiometer (CAR) data acquired during the 2007 Cloud and Land Surface Interaction Campaign (CLASIC) over the well-instrumented Atmospheric Radiation Measurement Program (ARM) Southern Great Plains (SGP) Cloud and Radiation Testbed (CART) site in Oklahoma, USA. For the case analyzed, we obtained approx.1.6 million individual surface bidirectional reflectance factor (BRF) retrievals, from nadir to 75 off-nadir, and at spatial resolutions ranging from 3 m - 500 m. This unique dataset was used to examine the interaction of the spatial and angular characteristics of a mixed agricultural landscape; and provided the basis for detailed assessments of: (1) the use of a priori knowledge in kernel-driven BRDF model inversions; (2) the interaction between surface reflectance anisotropy and instrument spatial resolution; and (3) the uncertain ties that arise when sub-pixel differences in the BRDF are aggregated to a moderate resolution satellite pixel. Results offer empirical evidence concerning the influence of scale and spatial heterogeneity in kernel-driven BRDF models; providing potential new insights into the behavior and characteristics of different surface radiative properties related to land/use cover change and vegetation structure.

Roman, Miguel O.↗

NASA NTRS2012

Variability in Surface BRDF at Different Spatial Scales (30m-500m) Over a Mixed Agricultural Landscape as Retrieved from Airborne and Satellite Spectral Measurements

Over the past decade, the role of multiangle 1 remote sensing has been central to the development of algorithms for the retrieval of global land surface properties including models of the bidirectional reflectance distribution function (BRDF), albedo, land cover/dynamics, burned area extent, as well as other key surface biophysical quantities represented by the anisotropic reflectance characteristics of vegetation. In this study, a new retrieval strategy for fine-to-moderate resolution multiangle observations was developed, based on the operational sequence used to retrieve the Moderate Resolution Imaging Spectroradiometer (MODIS) Collection 5 reflectance and BRDF/albedo products. The algorithm makes use of a semiempirical kernel-driven bidirectional reflectance model to provide estimates of intrinsic albedo (i.e., directional-hemispherical reflectance and bihemispherical reflectance), model parameters describing the BRDF, and extensive quality assurance information. The new retrieval strategy was applied to NASA's Cloud Absorption Radiometer (CAR) data acquired during the 2007 Cloud and Land Surface Interaction Campaign (CLASIC) over the well-instrumented Atmospheric Radiation Measurement Program (ARM) Southern Great Plains (SGP) Cloud and Radiation Testbed (CART) site in Oklahoma, USA. For the case analyzed, we obtained approx.1.6 million individual surface bidirectional reflectance factor (BRF) retrievals, from nadir to 75deg off-nadir, and at spatial resolutions ranging from 3 m - 500 m. This unique dataset was used to examine the interaction of the spatial and angular 18 characteristics of a mixed agricultural landscape; and provided the basis for detailed assessments of: (1) the use of a priori knowledge in kernel-driven BRDF model inversions; (2) the interaction between surface reflectance anisotropy and instrument spatial resolution; and (3) the uncertainties that arise when sub-pixel differences in the BRDF are aggregated to a moderate resolution satellite pixel. Results offer empirical evidence concerning the influence of scale and spatial heterogeneity in kernel-driven BRDF models; providing potential new insights into the behavior and characteristics of different surface radiative properties related to land/use cover change and vegetation structure.

Roman, Miguel O.↗

NASA NTRS2010

The Utility of the OMI HCHO/NO2 in Air Quality Decision-Making Activities

I will discuss a novel and practical application of the OMI HCHU and NO2 data products to the "weight of evidence" in the air quality decision-making process (e.g., State Implementation Plan (SIP)) for a city, region, or state to demonstrate that it is making progress toward attainment of the National Ambient Air Quality Standard (NAAQS) for ozone. Any trend, or lack thereof, in the observed OMI HCHO/NO2 may support that an emission control strategy implemented to reduce ozone is or is not occurring for a metropolitan area. In addition, the observed OMI HCHO/NO2 may be used to define new emission control strategies as the photochemical environments of urban areas evolve over time. I will demonstrate the utility of the OMI HCHO/NO2 over the U.S. for air quality applications with support from simulations with both a regional model and a photochemical box model. These results support mission planning of an OMI-like instrument for the proposed GEO-CAPE satellite that has as one of its objectives to study air quality from space. However, I'm attending the meeting as the Aura Deputy Project Scientist, so I don't technically need to present anything to justify the travel.

Duncan, Bryan↗

NASA NTRS1996

Mission to Planet Earth Strategic Enterprise Plan 1996-2002

Mission to Planet Earth's (MTPE's) first Strategic Enterprise Plan, issued in May 1995, defined the Agency's major goals and objectives as well as constraints. This update of the Strategic Enterprise Plan identifies the following major changes: a focused Science Research Plan that integrates space-based and in situ observational critical science to address critical science uncertainties; a technology infusion plan to reduce the cost of future missions; a series of flight opportunities to infuse new science into the overall program; and a tighter coupling between NASA and NOAA to reduce costs and to improve the overall program. Three important new initiatives are also under development and are described briefly in this plan: MTPE Education Strategy, MTPE Commercial Strategy, and an emerging concept for an Integrated Global Observing Strategy. This first update to the MTPE Strategic Enterprise Plan captures these new developments, and takes a significant step forward in planning this complex Earth system science endeavor. The plan and other information on MTPE may be viewed via the Internet at http://www.hq.nasa.gov/office/mtpe/.

Source record↗

NASA NTRS2013

1SXPS: A Deep Swift X-Ray Telescope Point Source Catalog with Light Curves and Spectra

We present the 1SXPS (Swift-XRT point source) catalog of 151,524 X-ray point sources detected by the Swift-XRT in 8 yr of operation. The catalog covers 1905 sq deg distributed approximately uniformly on the sky. We analyze the data in two ways. First we consider all observations individually, for which we have a typical sensitivity of approximately 3 × 10(exp −13) erg cm(exp −2) s(exp −1) (0.3-10 keV). Then we co-add all data covering the same location on the sky: these images have a typical sensitivity of approximately 9 × 10(exp −14) erg cm(exp −2) s(exp −1) (0.3-10 keV). Our sky coverage is nearly 2.5 times that of 3XMM-DR4, although the catalog is a factor of approximately 1.5 less sensitive. The median position error is 5.5 (90% confidence), including systematics. Our source detection method improves on that used in previous X-ray Telescope (XRT) catalogs and we report greater than 68,000 new X-ray sources. The goals and observing strategy of the Swift satellite allow us to probe source variability on multiple timescales, and we find approximately 30,000 variable objects in our catalog. For every source we give positions, fluxes, time series (in four energy bands and two hardness ratios), estimates of the spectral properties, spectra and spectral fits for the brightest sources, and variability probabilities in multiple energy bands and timescales.

telescope↗

NASA NTRS1986

Solution of nonlinear finite difference ocean models by optimization methods with sensitivity and observational strategy analysis

The paper studies with finite difference nonlinear circulation models the uncertainties in interesting flow properties, such as western boundary current transport, potential and kinetic energy, owing to the uncertainty in the driving surface boundary condition. The procedure is based upon nonlinear optimization methods. The same calculations permit quantitative study of the importance of new information as a function of type, region of measurement and accuracy, providing a method to study various observing strategies. Uncertainty in a model parameter, the bottom friction coefficient, is studied in conjunction with uncertain measurements. The model is free to adjust the bottom friction coefficient such that an objective function is minimized while fitting a set of data to within prescribed bounds. The relative importance of the accuracy of the knowledge about the friction coefficient with respect to various kinds of observations is then quantified, and the possible range of the friction coefficients is calculated.

Schroeter, Jens↗