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NASA NTRS2003

The Micro-Arcsecond Metrology Testbed

The Micro-Arcsecond Metrology (MAM) testbed is a ground-based system of optical and electronic equipment for testing components, systems, and engineering concepts for the Space Interferometer Mission (SIM) and similar future missions, in which optical interferometers will be operated in outer space. In addition, the MAM testbed is of interest in its own right as a highly precise metrological system. The designs of the SIM interferometer and the MAM testbed reflect a requirement to measure both the position of the starlight central fringe and the change in the internal optical path of the interferometer with sufficient spatial resolution to generate astrometric data with angular resolution at the microarcsecond level. The internal path is to be measured by use of a small metrological laser beam of 1,319-nm wavelength, whereas the position of the starlight fringe is to be estimated by use of a charge-coupled-device (CCD) image detector sampling a large concentric annular beam. For the SIM to succeed, the optical path length determined from the interferometer fringes must be tracked by the metrological subsystem to within tens of picometers, through all operational motions of an interferometer delay line and siderostats. The purpose of the experiments performed on the MAM testbed is to demonstrate this agreement in a large-scale simulation that includes a substantial portion of the system in the planned configuration for operation in outer space. A major challenge in this endeavor is to align the metrological beam with the starlight beam in order to maintain consistency between the metrological and starlight subsystems at the system level. The MAM testbed includes an optical interferometer with a white light source, all major optical components of a stellar interferometer, and heterodyne metrological sensors. The aforementioned subsystems are installed in a large vacuum chamber in order to suppress atmospheric and thermal disturbances. The MAM is divided into two distinct subsystems: the test article (TA), which is the interferometer proper, and the inverse interferometer pseudo-star (IIPS), which synthesizes the light coming from a distant target star by providing spatially coherent wavefronts out of two mirrors, separated by the MAM baseline, that feed directly into two siderostats that are parts of the TA. The two feed mirrors of the IIPS are articulated (in translation and tilt) in order to simulate stars located at different orientations in space, while still illuminating the TA siderostats. The spectrum of the simulated starlight of the IIPS corresponds to that of a blackbody at a temperature of about 3,100 K.

Goullioud, Renaud↗

NASA NTRS1984

Applications of VAS and TOVS to tropical cyclones

The results of the attempts to use VAS (visible IR spin scan radiometer atmospheric sounder) data for predicting tropical cyclones are reported. VAS, mounted on a GEO platform, has 14 detectors for upwelling radiance. The McIDAS software was, by the 1983 hurricane season, upgraded to providing imagery and mass, motion and moisture patterns using the satellite data, which also permitted determinations of accurate temperature and moisture profiles. Comparisons made between VAS and radiosonde data revealed fairly close agreement of satellite and in-situ conditions during the 1983 season. When combined with data from the Tiros operational vertical sounder (TOVS) to define wind streamlines and predict the path of a hurricane from data fed into numerical models, sufficiently good agreement was obtained to initiate plans to forecast a hurricane trajectory during the 1984 season.

Velden, C. S.↗

NASA NTRS1989

On the dynamic singularities in the control of free-floating space manipulators

It is shown that free-floating space manipulator systems have configurations which are dynamically singular. At a dynamically singular position, the manipulator is unable to move its end effector in some direction. This problem appears in any free-floating space manipulator system that permits the vehicle to move in response to manipulator motion without correction from the vehicle's attitude control system. Dynamic singularities are functions of the dynamic properties of the system; their existence and locations cannot be predicted solely from the kinematic structure of the manipulator, unlike the singularities for fixed base manipulators. It is also shown that the location of these dynamic singularities in the workplace is dependent upon the path taken by the manipulator in reaching them. Dynamic singularities must be considered in the control, planning and design of free-floating space manipulator systems. A method for calculating these dynamic singularities is presented, and it is shown that the system parameters can be selected to reduce the effect of dynamic singularities on a system's performance.

Papadopoulos, E.↗

NASA NTRS2016

Flat H Redundant Frangible Joint Development

Orion and Commercial Crew Program (CCP) Partners have chosen to use frangible joints for certain separation events. The joints currently available are zero failure tolerant and will be used in mission safety applications. The goal is to further develop a NASA designed redundant frangible joint that will lower flight risk and increase reliability. FY16 testing revealed a successful design in subscale straight test specimens that gained efficiency and supports Orion load requirements. Approach / Innovation A design constraint is that the redundant joint must fit within the current Orion architecture, without the need for additional vehicle modification. This limitation required a design that changed the orientation of the expanding tube assemblies (XTAs), by rotating them 90deg from the standard joint configuration. The change is not trivial and affects the fracture mechanism and structural load paths. To address these changes, the design incorporates cantilevered arms on the break plate. The shock transmission and expansion of the XTA applies force to these arms and creates a prying motion to push the plate walls outward to the point of structural failure at the notched section. The 2014 test design revealed that parts could slip during functioning wasting valuable energy needed to separate the structure with only a single XTA functioning. Dual XTA functioning fully separated the assembly showing a discrepancy can be backed up with redundancy. Work on other fully redundant systems outside NASA is limited to a few patents that have not been subjected to functionality testing Design changes to prevent unwanted slippage (with ICA funding in 2015) showed success with a single XTA. The main goal for FY 2016 was to send the new Flat H RFJ to WSTF where single XTA test failures occurred back in 2014. The plan was to gain efficiency in this design by separating the Flat H RFJ with thicker ligaments with dimensions baselined in 2014. Other modifications included geometry changes to better disperse loads paths and to minimize air gaps. The design additionally added more structural strength to enhance the structural limits in static loads testing. The design also implemented a smoother load line through the assembly. Results / Knowledge Gained The new Flat H RFJ successfully fractured at WSTF with thicker ligaments and lower cord size. Where failure to separate occurred earlier, there is now excessive energy available for structural separation. The new challenge to provide some structural support to prevent secondary fracturing of the break plate remains to be completed. This future work is being funded by the JSC Engineering Directorate in 2017 to elevate the TRL on curved Flat H RFJs that configure with the Orion Service Panel Separation. Additional funding from JSC Engineering will provide new design testing to avoid secondary fracturing.

Brown, Chris↗

NASA NTRS1993

Multiple-camera/motion stereoscopy for range estimation in helicopter flight

Aiding the pilot to improve safety and reduce pilot workload by detecting obstacles and planning obstacle-free flight paths during low-altitude helicopter flight is desirable. Computer vision techniques provide an attractive method of obstacle detection and range estimation for objects within a large field of view ahead of the helicopter. Previous research has had considerable success by using an image sequence from a single moving camera to solving this problem. The major limitations of single camera approaches are that no range information can be obtained near the instantaneous direction of motion or in the absence of motion. These limitations can be overcome through the use of multiple cameras. This paper presents a hybrid motion/stereo algorithm which allows range refinement through recursive range estimation while avoiding loss of range information in the direction of travel. A feature-based approach is used to track objects between image frames. An extended Kalman filter combines knowledge of the camera motion and measurements of a feature's image location to recursively estimate the feature's range and to predict its location in future images. Performance of the algorithm will be illustrated using an image sequence, motion information, and independent range measurements from a low-altitude helicopter flight experiment.

Smith, Phillip N.↗

NASA NTRS2007

Slip Validation and Prediction for Mars Exploration Rovers

This paper presents a novel technique to validate and predict the rover slips on Martian surface for NASA's Mars Exploration Rovers. Different from the traditional approach, the proposed method uses the actual velocity profile of the wheels and the digital elevation map (DEM) from the stereo images of the terrain to formulate simplified equations of motion of the rovers. A weighted factor to the wheel-ground speed from the empirical data comprises the velocity equations of the simplified differential-algebraic system of the rover motion. Applying the discretization operator to these equations, the full kinematics state of the rover is then resolved by the configuration kinematics solution in the Robot Sequencing and Visualization Program (RSVP). This method produced accurate simulation of the rover movements compared with these of the earth testing vehicle. Using the telemetry from the onboard Visual Odometry, the simulated rover path also compares well with the actual track of the vehicle. Preliminary results indicated that the proposed computational method is very effective in planning the path of the rovers on the high-slope areas.

Mars Rovers↗

NASA NTRS2014

Biomechanics of the Treadmill Locomotion on the International Space Station

Exercise prescriptions completed by International Space Station (ISS) crewmembers are typically based upon evidence obtained during ground-based investigations, with the assumption that the results of long-term training in weightlessness will be similar to that attained in normal gravity. Coupled with this supposition are the assumptions that exercise motions and external loading are also similar between gravitational environments. Normal control of locomotion is dependent upon learning patterns of muscular activation and requires continual monitoring of internal and external sensory input [1]. Internal sensory input includes signals that may be dependent on or independent of gravity. Bernstein hypothesized that movement strategy planning and execution must include the consideration of segmental weights and inertia [2]. Studies of arm movements in microgravity showed that individuals tend to make errors but that compensation strategies result in adaptations, suggesting that control mechanisms must include peripheral information [3-5]. To date, however, there have been no studies examining a gross motor activity such as running in weightlessness other than using microgravity analogs [6-8]. The objective of this evaluation was to collect biomechanical data from crewmembers during treadmill exercise before and during flight. The goal was to determine locomotive biomechanics similarities and differences between normal and weightless environments. The data will be used to optimize future exercise prescriptions. This project addresses the Critical Path Roadmap risks 1 (Accelerated Bone Loss and Fracture Risk) and 11 (Reduced Muscle Mass, Strength, and Endurance). Data were collected from 7 crewmembers before flight and during their ISS missions. Before launch, crewmembers performed a single data collection session at the NASA Johnson Space Center. Three-dimensional motion capture data were collected for 30 s at speeds ranging from 1.5 to 9.5 mph in 0.5 mph increments with a 12-camera system. During flight, each crewmember completed up to 6 data collection sessions spread across their missions, performing their normal exercise prescription for the test day, resulting in varying data collection protocols between sessions. Motion data were collected by a single HD video camera positioned to view the crewmembers' left side, and tape markers were placed on their feet, legs, and neck on specific landmarks. Before data collection, the crewmembers calibrated the video camera. Video data were collected during the entire exercise session at 30 Hz. Kinematic data were used to determine left leg hip, knee, and ankle range of motion and contact time, flight time, and stride time for each stride. 129 trials in weightlessness were analyzed. Mean time-normalized strides were found for each trial, and cross-correlation procedures were used to examine the strength and direction of relationships between segment movement pattern timing in each gravitational condition. Cross-correlation analyses between gravitational conditions revealed highly consistent movement patterns at each joint. Peak correlation coefficients occurred at 0% phase, indicating there were no lags in movement timing. Joint ranges of motion were similar between gravitational conditions, with some slight differences between subjects. Motion patterns in weightlessness were highly consistent at a given speed with those occurring in 1G, indicating that despite differing sensory input, subjects maintain running kinematics. The data suggest that individuals are capable of compensating for loss of limb weight when creating movement strategies. These results have important implications for creating training programs for use in weightlessness as practitioners can have greater confidence in running motions transferring across gravitational environments. Furthermore, these results have implications for use by researchers investigating motor control mechanisms and investigating hypotheses related to movement strategies when using sensory input that is dependent upon gravity.

DeWitt, John↗

NASA NTRS2009

Creating a Lunar EVA Work Envelope

A work envelope has been defined for weightless Extravehicular Activity (EVA) based on the Space Shuttle Extravehicular Mobility Unit (EMU), but there is no equivalent for planetary operations. The weightless work envelope is essential for planning all EVA tasks because it determines the location of removable parts, making sure they are within reach and visibility of the suited crew member. In addition, using the envelope positions the structural hard points for foot restraints that allow placing both hands on the job and provides a load path for reacting forces. EVA operations are always constrained by time. Tasks are carefully planned to ensure the crew has enough breathing oxygen, cooling water, and battery power. Planning first involves computers using a virtual work envelope to model tasks, next suited crew members in a simulated environment refine the tasks. For weightless operations, this process is well developed, but planetary EVA is different and no work envelope has been defined. The primary difference between weightless and planetary work envelopes is gravity. It influences anthropometry, horizontal and vertical mobility, and reaction load paths and introduces effort into doing "overhead" work. Additionally, the use of spacesuits other than the EMU, and their impacts on range of motion, must be taken into account. This paper presents the analysis leading to a concept for a planetary EVA work envelope with emphasis on lunar operations. There is some urgency in creating this concept because NASA has begun building and testing development hardware for the lunar surface, including rovers, habitats and cargo off-loading equipment. Just as with microgravity operations, a lunar EVA work envelope is needed to guide designers in the formative stages of the program with the objective of avoiding difficult and costly rework.

Griffin, Brand N.↗

NASA NTRS1987

Roadside tree attenuation measurements at UHF for land mobile satellite systems

Tree attenuation results at 870 MHz are described for experiments conducted in October 1985 and March 1986 in Central Maryland. These experiments employed a helicopter as a source platform and a van with receiver and data acquisition instrumentation. Tree attenuation results were obtained for the cases in which the van was stationary and in motion. The experiments were performed for the purpose of providing the designers of planned land mobile satellite systems with important elements in the determination of link parameter requirements; namely, the expected fading statistics due to roadside trees for both mobile and stationary vehicles. Single tree attenuation results gave worst case median fades as high as 15 dB although roadside tree values were noted to produce fades in excess of 20 dB for small percentages of time. The cumulative fade distributions and their relative contributions as a function of path elevation angle, right side versus left side driving, and different road types are derived from the field measurements. Upon comparing the attenuations from bare deciduous trees (March 1986) with those due to trees in full foliage (October 1985), the increase in dB attenuations were, in general, less than 25 percent for the dynamic cases, and less than 40 percent for the worst case static configuration. This result demonstrates that the dominant fading is caused by the wooded tree branches as opposed to the leaves on these branches. The tail end of the observed fade distributions was observed to follow lognormal distributions with respect to dB attenuation.

Goldhirsh, Julius↗

NASA NTRS2009

Rover Slip Validation and Prediction Algorithm

A physical-based simulation has been developed for the Mars Exploration Rover (MER) mission that applies a slope-induced wheel-slippage to the rover location estimator. Using the digital elevation map from the stereo images, the computational method resolves the quasi-dynamic equations of motion that incorporate the actual wheel-terrain speed to estimate the gross velocity of the vehicle. Based on the empirical slippage measured by the Visual Odometry software of the rover, this algorithm computes two factors for the slip model by minimizing the distance of the predicted and actual vehicle location, and then uses the model to predict the next drives. This technique, which has been deployed to operate the MER rovers in the extended mission periods, can accurately predict the rover position and attitude, mitigating the risk and uncertainties in the path planning on high-slope areas.

Yen, Jeng↗

NASA NTRS1985

Analysis of Doppler lidar data

Dual Doppler lidar analyses of data taken by pulsed lidars demonstrated feasibility of deriving wind fields from coordinated lidar scans. Limited case histories of thunderstorm outflows were obtained. Co-located comparison between Marshall Space Flight Center lidar and NCAR 5.5 cm radar demonstrated desirability of lidar in cases of marginal radar reflectivity in clear air and low-elevation scans. Analysis continued on backscattered intensity and velocity measurements made from April 1983 to February 1984. A slant path method was used to calculate vertical profiles of volumetric backscatter and adsorption in the lower troposphere. High-quality VAD scans were identified as candidates for investigating feasibility of calculating horizontal motion fields using single Doppler lidar. Activities during FY-85 also included participation in Fall 1984 airborne Doppler lidar flight experiments. Preliminary data review was begun using McIdas system. Analysis of backscatter and absorpiton profiles continues. Focus is on understanding spatial and temporal variations, as well as frequency distribution, of backscatter at several tropospheric levels. Results from this study provide input to evaluation of clean/dirty airmass hypothesis of aerosol distribution. Assistance is being given to preparation of a comprehensive, global backscatter measurement plan. Analysis of data from Fall 1984 flight experiments is just beginning. Work has begun on preprocessing data to minimize errors due to electro-optic modulator malfunction during flights.

Rothermel, J.↗

NASA NTRS1990

Real-time fuzzy inference based robot path planning

This project addresses the problem of adaptive trajectory generation for a robot arm. Conventional trajectory generation involves computing a path in real time to minimize a performance measure such as expended energy. This method can be computationally intensive, and it may yield poor results if the trajectory is weakly constrained. Typically some implicit constraints are known, but cannot be encoded analytically. The alternative approach used here is to formulate domain-specific knowledge, including implicit and ill-defined constraints, in terms of fuzzy rules. These rules utilize linguistic terms to relate input variables to output variables. Since the fuzzy rulebase is determined off-line, only high-level, computationally light processing is required in real time. Potential applications for adaptive trajectory generation include missile guidance and various sophisticated robot control tasks, such as automotive assembly, high speed electrical parts insertion, stepper alignment, and motion control for high speed parcel transfer systems.

Pacini, Peter J.↗

NASA NTRS2004

Mid-IR interferometric nulling for TPF

By the middle of 2006, the Interferometry Technology development program for NASA’s Terrestrial Planet Finder (TPF) Mission has the goal of demonstrating deep and stable interferometric nulling of broadband Mid-IR thermal radiation under conditions that are traceable to the expected on-orbit conditions. Specifically, the task is to demonstrate null levels of 10 to the negative 6 power, with a 50% BW centered at 10 um, with null stabilities of 10 to the negative 7 power all at cryogenic temperatures for observational periods of a couple of hours. The Achromatic Nulling activity at JPL addresses this concern in two testbeds: the warm nulling testbed and the cryonulling testbed. The warm nulling testbed will demonstrate the physics of nulling broadband thermal sources in an environment that is conducive to efficient research. We’ll explore nulling techniques, optical-mechanical alignment methods, motion control, and path-length metrology for a single beam interferometer, as well as preliminary planet detection techniques. Ultimate nulling capabilities under conditions that are more flight-like will be demonstrated in cryogenic nulling testbed. Knowledge gained from operation at room temperature will be applied to the cryongenic experiment where we face the additional challenges of extreme temperatures, cryongenic actuators, component survivability and fluxes that are within an order of magnitude of expected flux levels on orbit. Concurrently, we will develop a low flux mid-IR camera that will allow us to measure the nulls at these faint photon fluxes. This talk will review this development activity and will include recent nulling experimental results and plans for future work.

Vasisht, Gautam↗

NASA NTRS1998

Multiobjective Evolutionary Path Planning via Sugeno-Based Tournament Selection

This paper introduces a new tournament selection algorithm that can be used for evolutionary path planning systems. The fuzzy (Sugeno) tournament selection algorithm (STSA) described in this paper selects candidate paths (CPs) to be parents and undergo reproduction based on: (1) path feasibility, (2) the euclidean distance of a path from the origin to its destination, and (3) the average change in the slope of a path. In this paper, we provide a detailed description of the fuzzy inference system used in the STSA as well as some examples of its usefulness. We then use 12 instances of our STSA to rank a population of CPs based on the above criteria. We also show how the STSA can obviate the need for the development of an explicit (lexicographic multiobjective) evaluation function and use it to develop multiobjective motion paths.

Dozier, Gerry↗

NASA NTRS2001

Techniques for Improving Pilot Recovery from System Failures

This project examined the application of intelligent cockpit systems to aid air transport pilots at the tasks of reacting to in-flight system failures and of planning and then following a safe four dimensional trajectory to the runway threshold during emergencies. Two studies were conducted. The first examined pilot performance with a prototype awareness/alerting system in reacting to on-board system failures. In a full-motion, high-fidelity simulator, Army helicopter pilots were asked to fly a mission during which, without warning or briefing, 14 different failures were triggered at random times. Results suggest that the amount of information pilots require from such diagnostic systems is strongly dependent on their training; for failures they are commonly trained to react to with a procedural response, they needed only an indication of which failure to follow, while for 'un-trained' failures, they benefited from more intelligent and informative systems. Pilots were also found to over-rely on the system in conditions were it provided false or mis-leading information. In the second study, a proof-of-concept system was designed suitable for helping pilots replan their flights in emergency situations for quick, safe trajectory generation. This system is described in this report, including: the use of embedded fast-time simulation to predict the trajectory defined by a series of discrete actions; the models of aircraft and pilot dynamics required by the system; and the pilot interface. Then, results of a flight simulator evaluation with airline pilots are detailed. In 6 of 72 simulator runs, pilots were not able to establish a stable flight path on localizer and glideslope, suggesting a need for cockpit aids. However, results also suggest that, to be operationally feasible, such an aid must be capable of suggesting safe trajectories to the pilot; an aid that only verified plans entered by the pilot was found to have significantly detrimental effects on performance and pilot workload. Results also highlight that the trajectories suggested by the aid must capture the context of the emergency; for example, in some emergencies pilots were willing to violate flight envelope limits to reduce time in flight - in other emergencies the opposite was found.

Pritchett, Amy R.↗

NASA NTRS2010

Probabilistic Motion Planning of Balloons in Strong, Uncertain Wind Fields

This paper introduces a new algorithm for probabilistic motion planning in arbitrary, uncertain vector fields, with emphasis on high-level planning for Montgolfiere balloons in the atmosphere of Titan. The goal of the algorithm is to determine what altitude--and what horizontal actuation, if any is available on the vehicle--to use to reach a goal location in the fastest expected time. The winds can vary greatly at different altitudes and are strong relative to any feasible horizontal actuation, so the incorporation of the winds is critical for guidance plans. This paper focuses on how to integrate the uncertainty of the wind field into the wind model and how to reach a goal location through the uncertain wind field, using a Markov decision process (MDP). The resulting probabilistic solutions enable more robust guidance plans and more thorough analysis of potential paths than existing methods.

Wolf, Michael T.↗

NASA NTRS2005

Accurate Determination of Comet and Asteroid Orbits Leading to Collision With Earth

Movements of the celestial bodies in our solar system inspired Isaac Newton to work out his profound laws of gravitation and motion; with one or two notable exceptions, all of those objects move as Newton said they would. But normally harmonious orbital motion is accompanied by the risk of collision, which can be cataclysmic. The Earth s moon is thought to have been produced by such an event, and we recently witnessed magnificent bombardments of Jupiter by several pieces of what was once Comet Shoemaker-Levy 9. Other comets or asteroids may have met the Earth with such violence that dinosaurs and other forms of life became extinct; it is this possibility that causes us to ask how the human species might avoid a similar catastrophe, and the answer requires a thorough understanding of orbital motion. The two red square flags with black square centers displayed are internationally recognized as a warning of an impending hurricane. Mariners and coastal residents who know the meaning of this symbol and the signs evident in the sky and ocean can act in advance to try to protect lives and property; someone who is unfamiliar with the warning signs or chooses to ignore them is in much greater jeopardy. Although collisions between Earth and large comets or asteroids occur much less frequently than landfall of a hurricane, it is imperative that we learn to identify the harbingers of such collisions by careful examination of an object s path. An accurate determination of the orbit of a comet or asteroid is necessary in order to know if, when, and where on the Earth s surface a collision will occur. Generally speaking, the longer the warning time, the better the chance of being able to plan and execute action to prevent a collision. The more accurate the determination of an orbit, the less likely such action will be wasted effort or, what is worse, an effort that increases rather than decreases the probability of a collision. Conditions necessary for a collision to occur are discussed, and warning times for long-period comets and near-Earth asteroids are presented.

Roithmayr, Carlos M.↗

NASA NTRS2021

Mapping Boreal Forest Spruce Beetle Health Status at the Individual Crown Scale Using Fused Spectral and Structural Data

The frequency and severity of spruce bark beetle outbreaks are increasing in boreal forests leading to widespread tree mortality and fuel conditions promoting extreme wildfire. Detection of beetle infestation is a forest health monitoring (FHM) priority but is hampered by the challenges of detecting early stage (“green”) attack from the air. There is indication that green stage might be detected from vertical gradients of spectral data or from shortwave infrared information distributed within a single crown. To evaluate the efficacy of discriminating “non-infested”, “green”, and “dead” health statuses at the landscape scale in Alaska, USA, this study conducted spectral and structural fusion of data from: (1) Unoccupied aerial vehicle (UAV) multispectral (6 cm) + structure from motion point clouds (~700 pts per sq. m); and (2) Goddard Lidar Hyperspectral Thermal (G-LiHT) hyperspectral (400 to 1000 nm, 0.5 m) + SWIR-band lidar (~32 pts per sq.m). We achieved 78% accuracy for all three health statuses using spectral + structural fusion from either UAV or G-LiHT and 97% accuracy for non-infested/dead using G-LiHT. We confirm that UAV 3D spectral (e.g., greenness above versus below median height in crown) and lidar apparent reflectance metrics (e.g., mean reflectance at 99th percentile height in crown), are of high value, perhaps capturing the vertical gradient of needle degradation. In most classification exercises, UAV accuracy was lower than G-LiHT indicating that collecting ultra-high spatial resolution data might be less important than high spectral resolution information. While the value of passive optical spectral information was largely confined to the discrimination of non-infested versus dead crowns, G-LiHT hyperspectral band selection (~400, 675, 755, and 940 nm) could inform future FHM mission planning regarding optimal wavelengths for this task. Interestingly, the selected regions mostly did not align with the band designations for our UAV multispectral data but do correspond to, e.g., Sentinel-2 red edge bands, suggesting a path forward for moderate scale bark beetle detection when paired with suitable structural data.

Janice Cessna↗