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NASA NTRS2004

Mars Exploration Rovers navigation results

The twin Mars Exploration Rovers, Spirit and Opportunity, were launched on June 10, 2003(dagger), and July 8, 2003, from Cape Canaveral, Florida. Spirit and Opportunity were targeted for landings at Gusev Crater (arrival on January 4, 2004) and Meridiani Planum (arrival on January 25, 2004). The primary navigation challenge was to deliver each spacecraft to the desired atmospheric entry interface point with sufficient accuracy such that each lander would touch down within a specified landing ellipse (about 70 km x 5 km) determined to be safe for landing and also judged to be scientifically interesting. In order to achieve landing within the target ellipse, precise control of the inertial entry flight path angle (FPA) at atmospheric entry was required. The maximum allowable errors in FPA following TCM-5 (trajectory correction maneuver #5) at Entry (E) - 2 days were +/-0.12(deg) (3(sigma)) for Spirit and +/-0.14(deg) (3(sigma)) for Opportunity. Achieving these entry delivery accuracies necessitated significant improvements to the interplanetary avigation system used for MER. These improvements included new processes and software for orbit determination, propulsive maneuver design, and entry, descent, and landing (EDL) trajectory simulation. The actual achieved atmospheric entry accuracies for Spirit and Opportunity significantly exceeded the requirements. At the navigation data cutoff for the TCM-5 final design, the orbit determination FPA knowledge error was +/-0.028(deg) (3(sigma) ) for Spirit and +/-0.035(deg) (3(sigma)) for Opportunity. Because of exceptionally accurate navigation performance, TCM-5 (E - 2 days) and TCM-6 (E - 4 hours) were canceled for both Spirit and Opportunity. The actual landing locations (determined from in-situ Doppler tracking between the MER rovers and the Mars Odyssey orbiter) differed from the target landing points by 10.1 km (downtrack) for Spirit and 24.6 km (downtrack) for Opportunity. The majority of the landing position offsets for both landers was primarily caused by variations in atmosphere and spacecraft aerodynamic modeling from what was predicted. The amount of the landing position offset caused by navigation-only errors was only 3.3 km (uptrack) for Spirit and 9.7 km (downtrack) for Opportunity.

Mars Exploration Rover (MER)↗
NASA NTRS2004

Mars Exploration Rovers navigation results

The twin Mars Exploration Rovers, Spirit and Opportunity, were launched on June 10, 2003, and July 8, 2003, from Cape Canaveral, Florida. Spirit and Opportunity were targeted for landings at Gusev Crater (arrival on January 4, 2004) and Meridiani Planum (arrival on January 25, 2004). The primary navigation challenge was to deliver each spacecraft to the desired atmospheric entry interface point with sufficient accuracy such that each lander would touch down within a specified landing ellipse (about 70 km x 5 km) determined to be safe for landing and also judged to be scientifically interesting. In order to achieve landing within the target ellipse, precise control of the inertial entry flight path angle (FPA) at atmospheric entry was required. The maximum allowable errors in FPA following TCM-5 (trajectory correction maneuver #5) at Entry (E) -2 days were +/-0.12 deg(3 sigma) for Spirit and +/-0.14 deg(3 sigma) for Opportunity. Achieving these entry delivery accuracies necessitated significant improvements to the interplanetary navigation system used for MER. These improvements included new processes and software for orbit determination, propulsive maneuver design, and entry, descent, and landing (EDL) trajectory simulation. The actual achieved atmospheric entry accuracies for Spirit and Opportunity significantly exceeded the requirements. At the navigation data cutoff for the TCM-5 final design, the orbit determination FPA knowledge error was 0.028 deg(3 sigma) for Spirit and 0.035 deg(3 sigma) for Opportunity. Because of exceptionally accurate navigation performance, TCM-5 (E - 2 days) and TCM-6 (E - 4 hours) were canceled for both Spirit and Opportunity. The actual landing locations (determined from in-situ Doppler tracking between the MER rovers and the Mars Odyssey orbiter) differed from the target landing points by 10.1 km (downtrack) for Spirit and 24.6 km (downtrack) for Opportunity. The majority of the landing position offsets for both landers was primarily caused by variations in atmosphere and spacecraft aerodynamic modeling from what was predicted. The amount of the landing position offset caused by navigation-only errors was only 3.3 km (uptrack) for Spirit and 9.7 km (downtrack) for Opportunity.

Mars Exploration Rover (MER)↗
DOE OSTI2026

Informing Robust Functional Relationship Benchmarks: An Evaluation of the Temperature Sensitivity of Ecosystem Respiration Across the Arctic-Boreal Region

During land model development, simulated carbon dynamics are often benchmarked against observational data sets to evaluate model performance. Functional relationship benchmarks are the relationship between a driving variable (e.g., temperature) and a response variable (e.g., ecosystem respiration) and are a promising tool for assessing model performance by evaluating modeled sensitivities to changing environmental conditions. However, observed functional relationships can be influenced by choices made during data collection and throughout the benchmarking process, impacting the inferred skill of land models. To avoid misrepresenting a model's true performance, it is necessary to systematically evaluate best practices when constructing functional relationship benchmarks. We developed a set of guidelines for constructing functional relationship benchmarks, considering the choice of data set, number of daily observations, temporal extent, and temporal resolution across Alaska and Canada over a 20-year period from 2001 to 2020. The temperature sensitivity of ecosystem respiration from observations, evaluated through an apparent Q 10 , is highly variable both spatially and as a result of the data processing approach applied in the benchmark formation. When benchmarking 13 models from the Warming Permafrost Model Intercomparison Project (WrPMIP), the range in inferred model skill is substantially impacted by the choices applied in constructing functional relationship benchmarks. The inferred performance of a given model is most sensitive to the number of daily observations and temporal extent, followed by choice of benchmark data set and temporal averaging. Results from this analysis can guide the development of consistent and robust functional relationships for future model evaluation studies.

Poe, Jeralyn [Northern Arizona University, Flagsta↗
NASA NTRS2020

Impact of a Regional US Drought on Land and Atmospheric Carbon

The impacts of drought on regional land and atmospheric carbon are still poorly understood. Here we quantify the impact of a regional US drought on land carbon fluxes (Gross Primary Production, or GPP, and Net Biosphere Production, or NBP) and atmospheric carbon (CO2) by imposing an idealized 3-month meteorological drought in an ensemble of coupled land-atmosphere climate simulations. The imposed drought, applied to the lower Mississippi River Valley (~500,000 km (exp 2)), leads to a 23% GPP reduction in the drought area in the month immediately following the drought’s termination. The drought also caused GPP reductions in some remote areas through drought-induced impacts on remote meteorology, particularly the areas adjacent to the imposed drought. In the remote areas, the induced precipitation changes are responsible for most of the anomalous land productivity. The impact of the drought-induced meteorological anomalies on GPP is greater than that of the CO2 anomalies by at least an order of magnitude. While their impact on GPP is secondary, the drought-induced atmospheric CO2 anomalies near the land surface can be as large as 3.57ppm. The significant CO2 anomalies cover an area up to three times of that of the imposed drought, suggesting that atmospheric transport needs to be considered in the interpretation of drought-induced CO2 anomalies in the atmosphere. The imposed drought also leads to column-averaged CO2 increases of up to 0.78ppm, which is at the edge of the uncertainty from single soundings of current greenhouse gas (GHG) observing satellites.

Eunjee Lee↗
DOE OSTI2024

Gridded Sub-daily Climate Forcings for North America Based on Daymet and GSWP3 (Daymet-GSWP3)

To support high spatial and temporal resolution land surface modeling, this dataset provides 3-hourly time step historic weather forcing at 1-km spatial resolution for the entire North America. The latest Daymet V4 data provides gridded historic daily weather observations at 1-km spatial resolution from 1980 to 2014. Using sub-daily temporal information from the Global Soil Wetness Project Phase 3 (GSWP3), Daymet was further temporally downscaled to 3-hourly time steps and provided in the format required for land surface model simulations. The process of temporal downscaling preserves the relative magnitude in each sub-daily time step from GSWP3 while maintaining the total and average values from Daymet for each day. This results in a blended 1980-2014 Daymet-GSWP3 dataset. Available variables include surface air temperature, precipitation, specific humidity, shortwave and longwave radiation, wind speed, and pressure. These data can be used as a high-resolution meteorological forcing dataset to support high-resolution land surface modeling where accurate meteorological forcing datasets built from historic observations and/or reanalysis datasets are desirable.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

Gridded Sub-daily Climate Forcings for North America Based on Daymet and GSWP3 (Daymet-GSWP3)

To support high spatial and temporal resolution land surface modeling, this dataset provides 3-hourly time step historic weather forcing at 1-km spatial resolution for the entire North America. The latest Daymet V4 data provides gridded historic daily weather observations at 1-km spatial resolution from 1980 to 2014. Using sub-daily temporal information from the Global Soil Wetness Project Phase 3 (GSWP3), Daymet was further temporally downscaled to 3-hourly time steps and provided in the format required for land surface model simulations. The process of temporal downscaling preserves the relative magnitude in each sub-daily time step from GSWP3 while maintaining the total and average values from Daymet for each day. This results in a blended 1980-2014 Daymet-GSWP3 dataset. Available variables include surface air temperature, precipitation, specific humidity, shortwave and longwave radiation, wind speed, and pressure. These data can be used as a high-resolution meteorological forcing dataset to support high-resolution land surface modeling where accurate meteorological forcing datasets built from historic observations and/or reanalysis datasets are desirable.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1999

An Overview of Landing Gear Dynamics

One of the problems facing the aircraft community is landing gear dynamics, especially shimmy and brake-induced vibration. Shimmy and brake-induced vibrations can lead to accidents due to excessive wear and shortened life of gear parts and contribute to pilot and passenger discomfort. To increase understanding of these problems, a literature survey was performed. The major focus is on work from the last ten years. Some older publications are included to understand the longevity of the problem and the background from earlier researchers. The literature survey includes analyses, testing, modeling, and simulation of aircraft landing gear; and experimental validation and characterization of shimmy and brake-induced vibration of aircraft landing gear. The paper presents an overview of the problem, background information, and a history of landing gear dynamics problems and solutions. Based on the survey an assessment and recommendations of the most critically needed enhancements to the state of the art will be presented. The status of Langley work contributing to this activity will be given.

Pritchard, Jocelyn I.↗
NASA NTRS1999

An Overview of Landing Gear Dynamics

One of the problems facing the aircraft community is landing gear dynamics, especially shimmy and brake-induced vibration. Although neither shimmy nor brake-induced vibrations are usually catastrophic, they can lead to accidents due to excessive wear and shortened life of gear parts and contribute to pilot and passenger discomfort. Recently, NASA has initiated an effort to increase the safety of air travel by reducing the number of accidents by a factor of five in ten years. This safety initiative has spurred an increased interest in improving landing gear design to minimize shimmy and brake-induced vibration that are still largely misunderstood phenomena. In order to increase the understanding of these problems, a literature survey was performed. The major focus of the paper is to summarize work documented from the last ten years to highlight the latest efforts in solving these vibration problems. Older publications are included to understand the longevity of the problem and the findings from earlier researchers. The literature survey revealed a variety of analyses, testing, modeling, and simulation of aircraft landing gear. Experimental validation and characterization of shimmy and brake-induced vibration of aircraft landing gear are also reported. This paper presents an overview of the problem documented in the references together with a history of landing gear dynamic problems and solutions. Based on the assessment of this survey, recommendations of the most critically needed enhancements to the state of the art are given.

Pritchard, Jocelyn↗
NASA NTRS1999

An Overview of Landing Gear Dynamics

One of the problems facing the aircraft community is landing gear dynamics, especially shimmy and brake-induced vibration. Although neither shimmy nor brake-induced vibrations are usually catastrophic, they can lead to accidents due to excessive wear and shortened life of gear parts and contribute to pilot and passenger discomfort. Recently, NASA has initiated an effort to increase the safety of air travel by reducing the number of accidents by a factor of five in ten years. This safety initiative has spurred an increased interest in improving landing gear design to minimize shimmy and brake-induced vibration that are still largely misunderstood phenomena. In order to increase the understanding of these problems, a literature survey was performed. The major focus of the paper is to summarize work documented from the last ten years to highlight the latest efforts in solving these vibration problems. Older publications are included to understand the longevity of the problem and the findings from earlier researchers. The literature survey revealed a variety of analyses, testing, modeling, and simulation of aircraft landing gear. Experimental validation and characterization of shimmy and brake-induced vibration of aircraft landing gear are also reported. This paper presents an overview of the problem documented in the references together with a history of landing gear dynamic problems and solutions. Based on the assessment of this survey, recommendations of the most critically needed enhancements to the state of the art are given.

Pritchard, Jocelyn I.↗
NASA NTRS2017

Evaluation of the Simple Safe Site Selection (S4) Hazard Detection Algorithm Using Helicopter Field Test Data

Small scale terrain hazards, such as rocks, slopes, and craters, can pose significant risk to landing spacecraft and rover or payload deployment. Onboard Hazard Detection and Avoidance (HDA) systems scan and analyze the landing area for these hazards in real time during descent, and divert the spacecraft to the safest touchdown site. The computationally efficient Simple Safe Site Selection (S4) algorithm combined with a flash LIDAR is an HDA system geared towards small robotic spacecraft. Rather than creating and analyzing a digital elevation map (DEM) from potentially many overlapping range images, S4 operates directly on a single flash LIDAR image. Extending prior work that has analyzed S4 performance for Mars landing using extensive simulations, this paper evaluates S4 performance using actual flash LIDAR images of an artificial hazard field acquired during a 2014 helicopter field test in Death Valley, CA. In particular, we describe LIDAR characterization and calibration, creation of ground truth elevation and safety maps, creation of ground truth sensor poses, actual S4 algorithm processing, and performance analysis. The results show that the safety cost images produced by S4 are remarkably close to the ground truth safety map (computed offline by an HDA algorithm developed under the Autonomous Landing and Hazard Avoidance (ALHAT) project) at significantly reduced computational cost, confirming S4 as a viable candidate algorithm for onboard spacecraft HDA.

Luna, Michael E.↗
NASA NTRS1999

Land-Atmosphere Interactions: Successes, Problems and Prospects

After two decades of active research, a much better understanding of the broader role of biospheric processes on the local climate has emerged. A surface-albedo increase, particularly in desert border regions of the subtropics (as well as the deforested tropical regions), leads to a net surface energy deficit, which in turn leads to a relative sinking and reduced rainfall. On the other hand, studies of the influence of altered ratios of evapotranspiration and sensible fluxes, in situations where the net solar income is unchanged, show that evapotranspiration is a more desirable flux for increased precipitation and vitality of the biosphere. Besides providing water vapor and convective available potential energy (CAPE) to the lower troposphere, evapotranspiration helps in building larger CAPE before "turning on" the moist-convection. Larger CAPE in the lower troposphere enables convection to reach into the deeper atmosphere thereby heating the upper troposphere; indeed, moist-convection is also accompanied by the evaporation of falling precipitation that cools and moistens the lower atmosphere. While convective, as opposed to stratiform, precipitation reduces the fractional cloud cover; it also allows more solar radiation to reach the surface thereby invigorating surface fluxes. These, together with moist convection and associated downdrafts help to maintain the characteristic upper temperature limit(s) of the moist-land as well as oceanic regions. Regardless of the above understanding, several important problems continue to hinder the accurate simulation of a realistic land atmosphere interaction in a numerical model (both GCM and/or Meso-scale models). Among the unsolved problems are parameterization of sub-grid scale land processes that include small-scale variability of soil moisture, snow-cover and snow-physics, the biodiversity of the biosphere, orography, local drainage characteristics under natural conditions, and surface flow over the natural terrain. A well-known non-linear response of surface fluxes to these variations makes the problem of parameterizing land-atmosphere interaction processes hard-to-address and simulate, particularly in a GCM. In our presentation, we will discuss how orographic, snow-cover, and water table interactions can be included into a Simple Biosphere Model such as SiB/SSiB. Figure I shows how, in the Russian region, spring snowmelt affects the soil moisture profile. Corresponding figure 2 shows how interaction with the water table decreases the natural evapotranspiration in the Sahel region simulation. While these simulations need better validation with data, the simulations reveal that surface processes are sensitive to these parameterizations. With these developments, we continue to advance our understanding of the interaction of land with the atmosphere aloft, but the intrinsic variability of the newer parameters, e. g., hydraulic properties of the soil, diminish the positive influences of these advances on the improved climate simulation with GCMs.

Sud, Y. C.↗
NASA NTRS2008

Analysis of Terrestrial Water Storage Changes from GRACE and GLDAS

Since March 2002, the Gravity Recovery and Climate Experiment (GRACE) has provided first estimates of land water storage variations by monitoring the time-variable component of Earth's gravity field. Here we characterize spatial-temporal variations in terrestrial water storage changes (TWSC) from GRACE and compare them to those simulated with the Global Land Data Assimilation System (GLDAS). Additionally, we use GLDAS simulations to infer how TWSC is partitioned into snow, canopy water and soil water components, and to understand how variations in the hydrologic fluxes act to enhance or dissipate the stores. Results quantify the range of GRACE-derived storage changes during the studied period and place them in the context of seasonal variations in global climate and hydrologic extremes including drought and flood, by impacting land memory processes. The role of the largest continental river basins as major locations for freshwater redistribution is highlighted. GRACE-based storage changes are in good agreement with those obtained from GLDAS simulations. Analysis of GLDAS-simulated TWSC illustrates several key characteristics of spatial and temporal land water storage variations. Global averages of TWSC were partitioned nearly equally between soil moisture and snow water equivalent, while zonal averages of TWSC revealed the importance of soil moisture storage at low latitudes and snow storage at high latitudes. Evapotranspiration plays a key role in dissipating globally averaged terrestrial water storage. Latitudinal averages showed how precipitation dominates TWSC variations in the tropics, evapotranspiration is most effective in the midlatitudes, and snowmelt runoff is a key dissipating flux at high latitudes. Results have implications for monitoring water storage response to climate variability and change, and for constraining land model hydrology simulations.

Syed, Tajdarul H.↗
NASA NTRS2008

Orion Crew Member Injury Predictions during Land and Water Landings

A review of astronaut whole body impact tolerance is discussed for land or water landings of the next generation manned space capsule named Orion. LS-DYNA simulations of Orion capsule landings are performed to produce a low, moderate, and high probability of injury. The paper evaluates finite element (FE) seat and occupant simulations for assessing injury risk for the Orion crew and compares these simulations to whole body injury models commonly referred to as the Brinkley criteria. The FE seat and crash dummy models allow for varying the occupant restraint systems, cushion materials, side constraints, flailing of limbs, and detailed seat/occupant interactions to minimize landing injuries to the crew. The FE crash test dummies used in conjunction with the Brinkley criteria provides a useful set of tools for predicting potential crew injuries during vehicle landings.

Lawrence, Charles↗
NASA NTRS2008

The Use of a Vehicle Acceleration Exposure Limit Model and a Finite Element Crash Test Dummy Model to Evaluate the Risk of Injuries During Orion Crew Module Landings

A review of astronaut whole body impact tolerance is discussed for land or water landings of the next generation manned space capsule named Orion. LS-DYNA simulations of Orion capsule landings are performed to produce a low, moderate, and high probability of injury. The paper evaluates finite element (FE) seat and occupant simulations for assessing injury risk for the Orion crew and compares these simulations to whole body injury models commonly referred to as the Brinkley criteria. The FE seat and crash dummy models allow for varying the occupant restraint systems, cushion materials, side constraints, flailing of limbs, and detailed seat/occupant interactions to minimize landing injuries to the crew. The FE crash test dummies used in conjunction with the Brinkley criteria provides a useful set of tools for predicting potential crew injuries during vehicle landings.

Lawrence, Charles↗
NASA NTRS2008

Orion Crew Member Injury Predictions during Land and Water Landings

A review of astronaut whole body impact tolerance is discussed for land or water landings of the next generation manned space capsule named Orion. LS-DYNA simulations of Orion capsule landings are performed to produce a low, moderate, and high probability of injury. The paper evaluates finite element (FE) seat and occupant simulations for assessing injury risk for the Orion crew and compares these simulations to whole body injury models commonly referred to as the Brinkley criteria. The FE seat and crash dummy models allow for varying the occupant restraint systems, cushion materials, side constraints, flailing of limbs, and detailed seat/occupant interactions to minimize landing injuries to the crew. The FE crash test dummies used in conjunction with the Brinkley criteria provides a useful set of tools for predicting potential crew injuries during vehicle landings.

Lawrence, Charles↗
NASA NTRS1979

Fixed-base simulation study of decoupled longitudinal controls during approach and landing of a medium jet transport in the presence of wind shear

The use of decoupled longitudinal controls during the approach and landing of a typical twin-engine jet transport in the presence of wind shear was studied. The simulation included use of a localizer and flight director to capture and maintain a 3 deg glide slope. The pilot then completed the landing by using visual cues provided below an altitude of 200 m by closed-circuit television and a terrain model. The decoupled controls used constant prefilter and feedback gains to provide steady state decoupling of flight path angle, pitch angle, and forward velocity. The use of the decoupled control system improved pilot performance during the approach and at touchdown in the presence of wind shears. The pilots preferred the decoupled controls and rated the task 1 to 3 increments better on a pilot rating scale, depending on wind conditions, than was the case when conventional controls were used.

Miller, G. K., Jr.↗
NASA NTRS2008

Implementation Challenges for Multivariable Control: What You Did Not Learn in School

Multivariable control allows controller designs that can provide decoupled command tracking and robust performance in the presence of modeling uncertainties. Although the last two decades have seen extensive development of multivariable control theory and example applications to complex systems in software/hardware simulations, there are no production flying systems aircraft or spacecraft, that use multivariable control. This is because of the tremendous challenges associated with implementation of such multivariable control designs. Unfortunately, the curriculum in schools does not provide sufficient time to be able to provide an exposure to the students in such implementation challenges. The objective of this paper is to share the lessons learned by a practitioner of multivariable control in the process of applying some of the modern control theory to the Integrated Flight Propulsion Control (IFPC) design for an advanced Short Take-Off Vertical Landing (STOVL) aircraft simulation.

Garg, Sanjay↗
NASA NTRS2022

The Joint Assimilation of Remotely Sensed Leaf Area Index and Surface Soil Moisture into a Land Surface Model

This work tests the hypothesis that jointly assimilating satellite observations of leaf area index and surface soil moisture into a land surface model improves the estimation of land vegetation and water variables. An Ensemble Kalman Filter is used to test such hypothesis across the Contiguous United States during April 2015 – December 2018. The performance of the proposed methodology is assessed for several modeled vegetation and water variables (evapotranspiration, net ecosystem exchange, and soil moisture) in terms of random errors and anomaly correlation coefficients against a set of independent validation datasets (i.e., Global Land Evaporation Amsterdam Model, FLUXCOM, and International Soil Moisture Network). Results show that the assimilation of leaf area index mostly improves the estimation of evapotranspiration and net ecosystem exchange, whereas the assimilation of surface soil moisture alone improves surface soil moisture content, especially in the western US, in terms of both root mean squared error and anomaly correlation coefficient. The joint assimilation of vegetation and soil moisture information combines the results of individual vegetation and soil moisture assimilations and reduces errors (and increases correlations with the reference datasets) in evapotranspiration, net ecosystem exchange, and surface soil moisture simulated by the land surface model. However, because soil moisture satellite observations only provide information on the water content in the top 5 cm of the soil column, the impact of the proposed data assimilation technique on root zone soil moisture is limited. This work moves one step forward in the direction of improving our estimation and understanding of land surface interactions using a multi-variate data assimilation approach, which can be particularly useful in regions of the world where ground observations are sparse or missing altogether.

Data assimilation↗