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NASA NTRS2009

Model Calibration in Watershed Hydrology

Hydrologic models use relatively simple mathematical equations to conceptualize and aggregate the complex, spatially distributed, and highly interrelated water, energy, and vegetation processes in a watershed. A consequence of process aggregation is that the model parameters often do not represent directly measurable entities and must, therefore, be estimated using measurements of the system inputs and outputs. During this process, known as model calibration, the parameters are adjusted so that the behavior of the model approximates, as closely and consistently as possible, the observed response of the hydrologic system over some historical period of time. This Chapter reviews the current state-of-the-art of model calibration in watershed hydrology with special emphasis on our own contributions in the last few decades. We discuss the historical background that has led to current perspectives, and review different approaches for manual and automatic single- and multi-objective parameter estimation. In particular, we highlight the recent developments in the calibration of distributed hydrologic models using parameter dimensionality reduction sampling, parameter regularization and parallel computing.

Yilmaz, Koray K.↗
NASA NTRS1987

Determination of relative site motions in the western United States using Mark III very long baseline interferometry

Four years of very long baseline interferometry (VLBI) measurements involving fixed and mobile stations in the western U.S. are analyzed using weighted least squares. Baseline solution time series are used to estimate rates of change of the vector baseline between pairs of VLBI stations. Horizontal vector motions are determined for 18 sites with respect to a site in the Mojave desert. Six sites west of and two sites just to the east of the San Andreas fault show northwestward motion closely parallel to the San Andreas fault. Their motions range from 18 to 43 mm/yr and are significant at confidence levels greater than 99 percent. Motions in California relative to interior North American plate sites are used to estimate an integrated contribution from Basin and Range spreading to the total relative Pacific plate motion as 9-10 mm/yr. A maximum relative velocity of 50-51 mm/yr is found between the interior North American sites and the western California sites, in close agreement with the NUVEL-1 plate motion model.

Clark, T. A.↗
NASA NTRS1979

Autonomous attitude estimation via star sensing and pattern recognition

Results are reported on the development of an autonomous, onboard, near real time spacecraft attitude estimation technique. The approach uses CCD based star sensors to digitize relative star positions. Three microcomputers are envisioned, configured in parallel, to: (1) determine star image centroids and delete spurious images; (2) identify measured stars with stars in an onboard catalog and determine discrete attitude estimates; (3) integrate gyro rate measurements and determine optimal real time attitude estimates for use in the control system and for feedback to the star identification algorithm. Algorithms for the star identification are presented. The discrete attitude estimation algorithm recovers thermally varying interlock angles between two star sensors. The optimal state estimation process recovers rate gyro biases in addition to real time attitude estimates.

Junkins, J. L.↗
NASA NTRS2011

EOS MLS Level 2 Data Processing Software Version 3

This software accepts the EOS MLS calibrated measurements of microwave radiances products and operational meteorological data, and produces a set of estimates of atmospheric temperature and composition. This version has been designed to be as flexible as possible. The software is controlled by a Level 2 Configuration File that controls all aspects of the software: defining the contents of state and measurement vectors, defining the configurations of the various forward models available, reading appropriate a priori spectroscopic and calibration data, performing retrievals, post-processing results, computing diagnostics, and outputting results in appropriate files. In production mode, the software operates in a parallel form, with one instance of the program acting as a master, coordinating the work of multiple slave instances on a cluster of computers, each computing the results for individual chunks of data. In addition, to do conventional retrieval calculations and producing geophysical products, the Level 2 Configuration File can instruct the software to produce files of simulated radiances based on a state vector formed from a set of geophysical product files taken as input. Combining both the retrieval and simulation tasks in a single piece of software makes it far easier to ensure that identical forward model algorithms and parameters are used in both tasks. This also dramatically reduces the complexity of the code maintenance effort.

Livesey, Nathaniel J.↗
NASA NTRS2021

The role of analysis error in the convergence of reanalysis production streams in MERRA-2

Due to production time constraints, most reanalyses are produced in multiple parallel streams instead of a single continuous one. These streams cover separate segments of the reanalysis time period with short overlaps to allow reconstruction of the official record. A fundamental assumption justifying this approach is that the streams will be assimilating the same observations during the periods where they overlap, and so will eventually converge to a similar atmospheric state, making discontinuities at stream junctions negligible. This assumption is revisited in this work by examining the impact of analysis error on the differences between MERRA-2 overlapping streams in three historical periods. Comparison results are shown in terms of standard deviations of stream differences as well as the spectral decomposition of the variance of their differences. Residual differences were found at the end of each year of overlap, with larger values observed in the earlier segments of the presatellite era. By drawing parallels with analysis error statistics estimated from the GMAO OSSE system, these differences are shown to reflect the varying constraint of data with the varying observing network, and to further carry the imprint of errors that the data assimilation process is not able to mitigate. As such, they are unlikely to be reduced by longer spinup periods. The ability of data assimilation to ensure continuity in the parallel streams is put into question when the observing system coverage is inadequate or simply when the data assimilation system as a whole is suboptimal.

Amal El Akkraoui↗
NASA NTRS1990

Efficient parametric analysis of performance measures for communication networks

Efficient techniques for estimating performance measures in communication networks in a steady-state or transient setting are developed. These techniques may be used in a simulation environment or in connection with real-time observations. For Markov chain models, the recently proposed standard clock approach is extended, and a class of real-time algorithms for simultaneously generating multiple sample paths under different parameter sets is presented. Attention is focused on the link crash time estimation problem, where a 'crash' is defined as the first time a buffer overflows, given some initial conditions. An algorithm for estimating crash times under various traffic shocks is derived, where all estimates are obtained in parallel to an actual network's normal operation. An algorithm for crash time estimation of a G/D/1 link model is also derived using a different (perturbation-analysis-based) approach. Finally, extensive simulation results are provided to validate the proposed algorithms and compare them to brute-force simulation.

Cassandras, Christos G.↗
NASA NTRS1989

A tesselated probabilistic representation for spatial robot perception and navigation

The ability to recover robust spatial descriptions from sensory information and to efficiently utilize these descriptions in appropriate planning and problem-solving activities are crucial requirements for the development of more powerful robotic systems. Traditional approaches to sensor interpretation, with their emphasis on geometric models, are of limited use for autonomous mobile robots operating in and exploring unknown and unstructured environments. Here, researchers present a new approach to robot perception that addresses such scenarios using a probabilistic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a multi-dimensional random field that maintains stochastic estimates of the occupancy state of each cell in the grid. The cell estimates are obtained by interpreting incoming range readings using probabilistic models that capture the uncertainty in the spatial information provided by the sensor. A Bayesian estimation procedure allows the incremental updating of the map using readings taken from several sensors over multiple points of view. An overview of the Occupancy Grid framework is given, and its application to a number of problems in mobile robot mapping and navigation are illustrated. It is argued that a number of robotic problem-solving activities can be performed directly on the Occupancy Grid representation. Some parallels are drawn between operations on Occupancy Grids and related image processing operations.

Elfes, Alberto↗
NASA NTRS2012

Wavefront Compensation Segmented Mirror Sensing and Control

The primary mirror of very large submillimeter-wave telescopes will necessarily be segmented into many separate mirror panels. These panels must be continuously co-phased to keep the telescope wavefront error less than a small fraction of a wavelength, to ten microns RMS (root mean square) or less. This performance must be maintained continuously across the full aperture of the telescope, in all pointing conditions, and in a variable thermal environment. A wavefront compensation segmented mirror sensing and control system, consisting of optical edge sensors, Wavefront Compensation Estimator/Controller Soft ware, and segment position actuators is proposed. Optical edge sensors are placed two per each segment-to-segment edge to continuously measure changes in segment state. Segment position actuators (three per segment) are used to move the panels. A computer control system uses the edge sensor measurements to estimate the state of all of the segments and to predict the wavefront error; segment actuator commands are computed that minimize the wavefront error. Translational or rotational motions of one segment relative to the other cause lateral displacement of the light beam, which is measured by the imaging sensor. For high accuracy, the collimator uses a shaped mask, such as one or more slits, so that the light beam forms a pattern on the sensor that permits sensing accuracy of better than 0.1 micron in two axes: in the z or local surface normal direction, and in the y direction parallel to the mirror surface and perpendicular to the beam direction. Using a co-aligned pair of sensors, with the location of the detector and collimated light source interchanged, four degrees of freedom can be sensed: transverse x and y displacements, as well as two bending angles (pitch and yaw). In this approach, each optical edge sensor head has a collimator and an imager, placing one sensor head on each side of a segment gap, with two parallel light beams crossing the gap. Two sets of optical edge sensors are used per segment-to-segment edge, separated by a finite distance along the segment edge, for four optical heads, each with an imager and a collimator. By orienting the beam direction of one edge sensor pair to be +45 away from the segment edge direction, and the other sensor pair to be oriented -45 away from the segment edge direction, all six degrees of freedom of relative motion between the segments can be measured with some redundancy. The software resides in a computer that receives each of the optical edge sensor signals, as well as telescope pointing commands. It feeds back the edge sensor signals to keep the primary mirror figure within specification. It uses a feed-forward control to compensate for global effects such as decollimation of the primary and secondary mirrors due to gravity sag as the telescope pointing changes to track science objects. Three segment position actuators will be provided per segment to enable controlled motions in the piston, tip, and tilt degrees of freedom. These actuators are driven by the software, providing the optical changes needed to keep the telescope phased.

Redding, David C.↗
NASA NTRS2004

Means, Variability and Trends of Precipitation in the Global Climate as Determined by the 25-year GEWEWGPCP Data Set

The Global Precipitation Climatology Project (GPCP) 25-year precipitation data set is used as a basis to evaluate the mean state, variability and trends (or inter-decadal changes) of global and regional scales of precipitation. The uncertainties of these characteristics of the data set are evaluated by examination of other, parallel data sets and examination of shorter periods with higher quality data (e.g., TRMM). The global and regional means are assessed for uncertainty by comparing with other satellite and gauge data sets, both globally and regionally. The GPCP global mean of 2.6 mdday is divided into values of ocean and land and major latitude bands (Tropics, mid-latitudes, etc.). Seasonal variations globally and by region are shown and uncertainties estimated. The variability of precipitation year-to-year is shown to be related to ENS0 variations and volcanoes and is evaluated in relation to the overall lack of a significant global trend. The GPCP data set necessarily has a heterogeneous time series of input data sources, so part of the assessment described above is to test the initial results for potential influence by major data boundaries in the record.

Adler, R. F.↗
NASA NTRS1994

Three-dimensional aspects of radiative transfer in remote sensing of precipitation: Application to the 1986 COHMEX storm

Several multifrequency techniques for passive microwave estimation of precipitation based on the absorption and scattering properties of hydrometers have been proposed in the literature. In the present study, plane-parallel limitations are overcome by using a model based on the discrete-ordinates method to solve the radiative transfer equation in three-dimensional rectangular domains. This effectively accounts for the complexity and variety of radiation problems encountered in the atmosphere. This investigation presents result for plane-parallel and three-dimensional radiative transfer for a precipitating system, discusses differences between these results, and suggests possible explanations for these differences. Microphysical properties were obtained from the Colorado State University Regional Atmospehric Modeling System and represent a hailstorm observed during the 1986 Cooperative Huntsville Meteorological Experiment. These properties are used as input to a three-dimensional radiative transfer model in order to simulate satellite observation of the storm. The model output consists of upwelling brightness temperatures at several of the frequencies on the Special Sensor Microwave/Imager. The radiative transfer model accounts for scattering and emission of atmospheric gases and hydrometers in liquid and ice phases. Brightness temperatures obtained from the three-dimensional model of this investigation indicate that horizontal inhomogeneities give rise to brightness temperature fields that can be quite different from fields obtained using plane-parallel radiative transfer theory. These differences are examined for various resolutions of the satellite sensor field of view. In adddition, the issue of boundary conditions for three-dimensional atmospheric radiative transfer is addressed.

Haferman, J. L.↗
NASA NTRS2021

Context and future directions for integrating forest carbon into sub-national climate mitigation planning in the RGGI region of the U.S.

International frameworks for climate mitigation that build from national actions have been developed under the United National Framework Convention on Climate Change and advanced most recently through the Paris Climate Agreement. In parallel, sub-national actors have set greenhouse gas (GHG) reduction goals and developed corresponding climate mitigation plans. Within the U.S., multi-state coalitions have formed to facilitate coordination of related science and policy. Here, utilizing the forum of the NASA Carbon Monitoring System’s Multi-State Working Group, we collected and reviewed climate mitigation plans for 11 states in the Regional Greenhouse Gas Initiative region of the Eastern U.S. For each state we reviewed the (a) policy framework for climate mitigation, (b) GHG reduction goals, (c) inclusion of forest activities in the state’s climate action plan, (d) existing science used to quantify forest carbon estimates, and (e) stated needs for forest carbon monitoring science. Across the region, we found important differences across all categories. While all states have GHG reduction goals and framework documents, nearly three-quarters of all states do not account for forest carbon when planning GHG reductions; those that do account for forest carbon use a variety of scientific methods with various levels of planning detail and guidance. We suggest that a common, efficient, standardized forest carbon monitoring system would provide important benefits to states and the geographic region as a whole. In addition, such a system would allow for more effective transparency and progress tracking to support state, national, and international efforts to increase ambition and implementation of climate goals.

Rachel L Lamb↗
NASA NTRS1999

An Adaptive Kalman Filter Using a Simple Residual Tuning Method

One difficulty in using Kalman filters in real world situations is the selection of the correct process noise, measurement noise, and initial state estimate and covariance. These parameters are commonly referred to as tuning parameters. Multiple methods have been developed to estimate these parameters. Most of those methods such as maximum likelihood, subspace, and observer Kalman Identification require extensive offline processing and are not suitable for real time processing. One technique, which is suitable for real time processing, is the residual tuning method. Any mismodeling of the filter tuning parameters will result in a non-white sequence for the filter measurement residuals. The residual tuning technique uses this information to estimate corrections to those tuning parameters. The actual implementation results in a set of sequential equations that run in parallel with the Kalman filter. A. H. Jazwinski developed a specialized version of this technique for estimation of process noise. Equations for the estimation of the measurement noise have also been developed. These algorithms are used to estimate the process noise and measurement noise for the Wide Field Infrared Explorer star tracker and gyro.

Harman, Richard R.↗
NASA NTRS1999

An Adaptive Kalman Filter using a Simple Residual Tuning Method

One difficulty in using Kalman filters in real world situations is the selection of the correct process noise, measurement noise, and initial state estimate and covariance. These parameters are commonly referred to as tuning parameters. Multiple methods have been developed to estimate these parameters. Most of those methods such as maximum likelihood, subspace, and observer Kalman Identification require extensive offline processing and are not suitable for real time processing. One technique, which is suitable for real time processing, is the residual tuning method. Any mismodeling of the filter tuning parameters will result in a non-white sequence for the filter measurement residuals. The residual tuning technique uses this information to estimate corrections to those tuning parameters. The actual implementation results in a set of sequential equations that run in parallel with the Kalman filter. Equations for the estimation of the measurement noise have also been developed. These algorithms are used to estimate the process noise and measurement noise for the Wide Field Infrared Explorer star tracker and gyro.

Harman, Richard R.↗
NASA NTRS1994

Shock normal determination for multiple-ion shocks

We have adapted the single-ion Vinas and Scudder (1986) solution to the Rankine-Hugoniot (R-H) problem to a multiple-on solution. Using this technique, we can calculate a shock normal direction, shock speed, best estimate of the upstream and downstream magnetic field and plasma asymptotic states, and theta(sub Bn), the angle between the shock normal and the upstream magnetic field. We test the multi-ion solution with a theoretical case but are restricted to a perpendicular shock in order to close the multi-ion Rankine-Hugoniot equations. For this test case both single-ion and multi-ion solutions are equally valid. We examine parameter regimes to look for differences between single-ion and multi-ion solutions of the R-H equations, and we find that the largest differences occur for quasi-parallel shocks, small values of solar wind speed, large values of heavy ion density, and very strong and very weak shocks. For both the inbound and outbound crossing of comet Halley we have a slow solar wind speed, small values of water group ions and fairly weak shocks. We examine both the quasi-perpendicular inbound crossing and the quasi-parallel outbound crossing at comet Halley.

Kessel, R. L.↗
NASA NTRS1997

Anthropogenic Sulfate, Clouds, and Climate Forcing

This research work is a joint effort between research groups at the Battelle Pacific Northwest Laboratory, Virginia Tech University, Georgia Institute of Technology, Brookhaven National Laboratory, and Texas A&M University. It has been jointly sponsored by the National Aeronautics and Space Administration, the U.S. Department of Energy, and the U.S. Environmental Protection Agency. In this research, a detailed tropospheric aerosol-chemistry model that predicts oxidant concentrations as well as concentrations of sulfur dioxide and sulfate aerosols has been coupled to a general circulation model that distinguishes between cloud water mass and cloud droplet number. The coupled model system has been first validated and then used to estimate the radiative impact of anthropogenic sulfur emissions. Both the direct radiative impact of the aerosols and their indirect impact through their influence on cloud droplet number are represented by distinguishing between sulfuric acid vapor and fresh and aged sulfate aerosols, and by parameterizing cloud droplet nucleation in terms of vertical velocity and the number concentration of aged sulfur aerosols. Natural sulfate aerosols, dust, and carbonaceous and nitrate aerosols and their influence on the radiative impact of anthropogenic sulfate aerosols, through competition as cloud condensation nuclei, will also be simulated. Parallel simulations with and without anthropogenic sulfur emissions are performed for a global domain. The objectives of the research are: To couple a state-of-the-art tropospheric aerosol-chemistry model with a global climate model. To use field and satellite measurements to evaluate the treatment of tropospheric chemistry and aerosol physics in the coupled model. To use the coupled model to simulate the radiative (and ultimately climatic) impacts of anthropogenic sulfur emissions.

Ghan, Steven J.↗
NASA NTRS2025

An Efficient GPU-Accelerated Multi-Source Global Fit Pipeline for LISA Data Analysis

The large-scale analysis task of deciphering gravitational wave signals in the LISA data stream will be difficult, requiring a large amount of computational resources and extensive development of computational methods. Its high dimensionality, multiple model types, and complicated noise profile require a global fit to all parameters and input models simultaneously. In this work, we detail our global fit algorithm, called “Erebor,” designed to accomplish this challenging task. It is capable of analysing current state-of-the-art datasets and then growing into the future as more pieces of the pipeline are completed and added. We describe our pipeline strategy, the algorithmic setup, and the results from our analysis of the LDC2A Sangria dataset, which contains Massive Black Hole Binaries, compact Galactic Binaries, and a parameterized noise spectrum whose parameters are unknown to the user. The Erebor algorithm includes three unique and very useful contributions: GPU acceleration for enhanced computational efficiency; ensemble MCMC sampling with multiple MCMC walkers per temperature for better mixing and parallelized sample creation; and special online updates to reversible-jump (or trans-dimensional) sampling distributions to ensure sampler mixing and accurate initial estimates for detectable sources in the data. We recover posterior distributions for all 15 (6) of the injected MBHBs in the LDC2A training (hidden) dataset. We catalog ∼12000 Galactic Binaries (∼8000 as high confidence detections) for both the training and hidden datasets. All of the sources and their posterior distributions are provided in publicly available catalogs.

LISA global fit↗
NASA NTRS2025

Efficient GPU-Accelerated MultiSource Global Fit Pipeline for LISA Data Analysis

The large-scale analysis task of deciphering gravitational-wave signals in the LISA data stream will be difficult, requiring a large amount of computational resources and extensive development of computational methods. Its high dimensionality, multiple model types, and complicated noise profile require a global fit to all parameters and input models simultaneously. In this work, we detail our global fit algorithm, called “Erebor,” designed to accomplish this challenging task. It is capable of analyzing current state-of-the-art datasets and then growing into the future as more pieces of the pipeline are completed and added. We describe our pipeline strategy, the algorithmic setup, and the results from our analysis of the LDC2A Sangria dataset, which contains massive black hole binaries, compact galactic binaries, and a parametrized noise spectrum whose parameters are unknown to the user. The Erebor algorithm includes three unique and very useful contributions: GPU acceleration for enhanced computational efficiency; ensemble Markov Chain Monte Carlo (MCMC) sampling with multiple MCMC walkers per temperature for better mixing and parallelized sample creation; and special online updates to reversible-jump (or transdimensional) sampling distributions to ensure sampler mixing and accurate initial estimates for detectable sources in the data.We recover posterior distributions for all 15 (6) of the injected massive black hole binaries (MBHB) in the LDC2A training (hidden) dataset. We catalog ∼12000 galactic binaries (∼8000 as high confidence detections) for both the training and hidden datasets. All of the sources and their posterior distributions are provided in publicly available catalogs.

LISA↗
NASA NTRS2001

Integral Twist Actuation of Helicopter Rotor Blades for Vibration Reduction

Active integral twist control for vibration reduction of helicopter rotors during forward flight is investigated. The twist deformation is obtained using embedded anisotropic piezocomposite actuators. An analytical framework is developed to examine integrally-twisted blades and their aeroelastic response during different flight conditions: frequency domain analysis for hover, and time domain analysis for forward flight. Both stem from the same three-dimensional electroelastic beam formulation with geometrical-exactness, and axe coupled with a finite-state dynamic inflow aerodynamics model. A prototype Active Twist Rotor blade was designed with this framework using Active Fiber Composites as the actuator. The ATR prototype blade was successfully tested under non-rotating conditions. Hover testing was conducted to evaluate structural integrity and dynamic response. In both conditions, a very good correlation was obtained against the analysis. Finally, a four-bladed ATR system is built and tested to demonstrate its concept in forward flight. This experiment was conducted at NASA Langley T~ansonic Dynamics Tunnel and represents the first-of-a-kind Mach-scaled fully-active-twist rotor system to undergo forward flight test. In parallel, the impact upon the fixed- and rotating-system loads is estimated by the analysis. While discrepancies are found in the amplitude of the loads under actuation, the predicted trend of load variation with respect to its control phase correlates well. It was also shown, both experimentally and numerically, that the ATR blade design has the potential for hub vibratory load reduction of up to 90% using individual blade control actuation. Using the numerical framework, system identification is performed to estimate the harmonic transfer functions. The linear time-periodic system can be represented by a linear time-invariant system under the three modes of blade actuation: collective, longitudinal cyclic, and lateral cyclic. A vibration minimizing controller is designed based on this result, which implements classical disturbance rejection algorithm with some modifications. The controller is simulated numerically, and more than 90% of the 4P hub vibratory load is eliminated. By accomplishing the experimental and analytical steps described in this thesis, the present concept is found to be a viable candidate for future generation low-vibration helicopters. Also, the analytical framework is shown to be very appropriate for exploring active blade designs, aeroelastic behavior prediction, and as simulation tool for closed-loop controllers.

Shin, SangJoon↗