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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 937 records · Page 52
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

A system architecture for a planetary rover

Each planetary mission requires a complex space vehicle which integrates several functions to accomplish the mission and science objectives. A Mars Rover is one of these vehicles, and extends the normal spacecraft functionality with two additional functions: surface mobility and sample acquisition. All functions are assembled into a hierarchical and structured format to understand the complexities of interactions between functions during different mission times. It can graphically show data flow between functions, and most importantly, the necessary control flow to avoid unambiguous results. Diagrams are presented organizing the functions into a structured, block format where each block represents a major function at the system level. As such, there are six blocks representing telecomm, power, thermal, science, mobility and sampling under a supervisory block called Data Management/Executive. Each block is a simple collection of state machines arranged into a hierarchical order very close to the NASREM model for Telerobotics. Each layer within a block represents a level of control for a set of state machines that do the three primary interface functions: command, telemetry, and fault protection. This latter function is expanded to include automatic reactions to the environment as well as internal faults. Lastly, diagrams are presented that trace the system operations involved in moving from site to site after site selection. The diagrams clearly illustrate both the data and control flows. They also illustrate inter-block data transfers and a hierarchical approach to fault protection. This systems architecture can be used to determine functional requirements, interface specifications and be used as a mechanism for grouping subsystems (i.e., collecting groups of machines, or blocks consistent with good and testable implementations).

Smith, D. B.↗
NASA NTRS2021

Development and Analysis of a Thick Cloud Layers Database for Lightning Launch Commit Criteria Improvement

Lightning can pose a potential threat to space launch vehicles. In response to this, rules were created called the Lightning Launch Commit Criteria (LLCC) that help weather personnel evaluate the potential for natural and rocket-triggered lightning. One of the ten LLCC with the least research is called the Thick Cloud Layers rule. To further understand electrification of thick cloud layers and potentially improve the Thick Cloud Layers rule, a database of thick cloud layers that occurred over the Eastern Range was created. This database is then used to create an algorithm for identifying and differentiating thick cloud layers from other cloud types based on radar characteristics, temperature levels in reference to cloud height, and the surface electric field. By analyzing and identifying thick cloud events, this project could help narrow down when thick clouds are occurring and potentially minimize unnecessary launch delays. Events that caused LLCC violations involving the Thick Cloud Layers rule were analyzed by hand using Level-2 NEXRAD radar data from the National Weather Service WSR-88D radar in Melbourne with the program GR2Analyst. Cases that were found to be isolated and not involved with convection were recorded (date, start/end time, location) in a database. Radar data associated with these cases was collected and gridded using Python radar packages. Once gridded, I calculated and recorded for each radar scan the following radar reflectivity driven parameters within an 11x11 km bin centered on each 1 square km grid point: the mean reflectivity colder than 0 degrees Celsius, Maximum Radar Reflectivity (MRR) colder than 0 degrees Celsius, Volume Averaged Height Integrated Radar Reflectivity (VAHIRR), Hydrometeor Identification (HID), the difference between the maximum and mean reflectivity, the cloud depth colder than 0 degrees Celsius, the overall cloud depth, the cloud top, and the cloud bottom. Soundings for each event were used to determine cloud temperature levels, and where the cloud is in relation to the freezing level. Electric field mill data collected over the Eastern Range was used to determine surface electric fields below each cloud. All parameters were analyzed in depth for several thick cloud cases to gain an understanding of typical thick cloud characteristics. Cases of thick clouds and other isolated cloud types were also recorded for training purposes to see if enough differences exist between cloud types to differentiate them with an algorithm. Each case along with its corresponding characteristics was recorded in a database, and this database was used to compare differing cloud types, as well as train the algorithm to detect thick clouds.

Lightning↗
DOE OSTI2024

Improving Self-Driving Labs: Quantifying System-Level Experiment Repeatability and Broadening Instrument-Level Compatibility

Modular Autonomous Research System (MARS) is a self-driving laboratory (SDL) which performs wet-lab science with peptide-lanthanide combinations in an automated and, ultimately, an autonomous manner to aid in soil analysis for domestic lithium mining. Autonomous experimentation involves automated experimentation, experiment planning, and active learning. MARS consists of a 6-axis robotic arm (UR5e) on a linear rail, pipette robots (Opentrons 2), and microplate readers. These components transport, operate on, and collect data with chemical solutions in standard labware. For effective autonomy, MARS must perform system-level labware operations repeatably, plan experiments autonomously, and be portable between research-domains. Repeatability is evaluated by labware placement precision, such that future operations can properly locate labware, as well as the elapsed time, so that low variance mean estimates of experiment duration can inform high-level researcher decision making. Autonomous experiment planning is the next step to decouple experimentation from human management; however, there is a conflict between the ideal system-level experiment goals and the constraints imposed by instruments’ limitations. Sub-domain portability is a long-term goal to extend MARS’ research beyond the chemistry of peptide-lanthanide binding to other sub-domains without having to invest significant overhead to system retrofitting. To address these goals, we manually trained the robotic arm labware placement and modelled statistical failurerate and uncertainty Additionally, we benchmarked the duration and variance of each experiment sub-operation as a heuristic for research decision making. Next, we use a parameterized geometric program (PGP) approach to design experiments that optimize system-level objectives and satisfy instrument-level constraints. Lastly, we proposed a Python framework to maximize MARS’ extensibility to other scientific sub-domains through a JSON-based experiment specification.

36 MATERIALS SCIENCE↗
DOE OSTI2026

Patch-level CO2 and CH4 fluxes and porewater concentrations in experimental wetlands, 5 and 10 PPT saltwater intrusion simulations, Louisiana 2023-2024

This dataset containes carbon dioxide (CO2) and methane (CH4) flux measurements collected from wetland vegetation patches dominated by Typha domingensis and Panicum hemitomon to assess greenhouse gas flux responses to experimental saltwater intrusion (SWI) pulses. Measurements were conducted before, during, and after simulated SWI events at target salinities of approximately 5 parts per thousand (ppt) with durations of 6, 10, and 17 days and 10 ppt with a duration of 48 days, alongside a control wetland (with no salinity added, flood manipulation only). These data were generated to evaluate how the magnitude and duration of SWI alter wetland carbon exchange and related biogeochemical and plant responses. This data package includes flux measurements from the wetland surface (i.e, soil/water surface and enclosed vegetation) and from the soil/water surface only; porewater and surface water concentrations of CO2 and CH4; salinity, pH, electrical conductivity collected in porewater (at 5, 10, and 20 cm soil depths) and in surface water; soil redox potential; leaf spectral indices, leaf vapor pressure deficit, stomatal conductance; water level, salinity, and photosynthetically active radiation; and aboveground biomass.

EARTH SCIENCE > AGRICULTURE > SOILS > SOIL RESPIRA↗
DOE OSTI2025

Constraint on the total width of the Higgs boson from Higgs boson and four-top-quark measurements in pp collisions at $\sqrt{s}$ = 13 TeV with the ATLAS detector

This Letter presents a constraint on the total width of the Higgs boson (Γ H ) using a combined measurement of on-shell Higgs boson production and the production of four top quarks, which involves contributions from off-shell Higgs boson-mediated processes. This method relies on the assumption that the tree-level Higgs-top Yukawa coupling strength is the same for on-shell and off-shell Higgs boson production processes, thereby avoiding any assumptions about the relationship between on-shell and off-shell gluon fusion Higgs production rates, which were central to previous measurements. The result is based on up to 140 fb -1 of proton–proton collisions at a centre-of-mass energy of $\sqrt{s}$ = 13 TeV collected with the ATLAS detector at the Large Hadron Collider. The observed (expected) 95% confidence level upper limit on Γ H is 450 MeV (75 MeV). Additionally, considering the constraint on the Higgs-top Yukawa coupling from loop-induced Higgs boson production and decay processes further yields an observed (expected) upper limit of 160 MeV (55 MeV).

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2020

CBRN Situational Awareness Tools for the Modern Age

CBRN Situational awareness (SA) should be a key operational requirement in the CNI area of discussion, not only for the “boots-on-the-ground” warfighter, but at a strategic level. For example, maneuver plans will need to be developed for contamination avoidance and battlefield survivability. Large datasets from instruments dispersed across the battlefield will thus need to be collected and processed into a holistic assessment of the radiological hazard. From there, hazard maps then must be distributed at the tactical level, all while continuing to effectively engage a peer adversary. This vision represents a network of sensors, software tools, data processing algorithms, communications suites, and common operational picture (COP) platforms working in concert to inform warfighters and command echelons alike of evolving nuclear and radiological hazards. This complex system-of-systems and the ultimate goal of effective engagement in a nuclear or radiological-hazard battlefield can be achieved through pursuit of improvement in collaborative SA tools.

Becker, Eric M.↗
DOE OSTI2024

The contributions of microclimatic information in advancing ecosystem science

Drawing upon over 100 years of scholarly work on microclimate, we first present an overview of the history, key references, and critical issues surrounding the collection and utilization of microclimate records in ecosystem studies. We place particular emphasis on addressing specific and pressing issues related to the applications of microclimate at the community-ecosystem-landscape level, excluding those of controlled experiment such as growth chambers and greenhouses. Specifically, we: (1) highlight some key issues concerning the collection, quality assurance/quality control (QA/QC), and utilization of microclimatic data in ecosystem studies; (2) revisit microclimatic responses to the structural changes of ecosystems and landscapes; and (3) emphasize the significance of microclimate in understanding major ecosystem/landscape processes and functions. Vapor pressure deficit (VPD) is particularly emphasized for its calculation and use because of its burgeoning applications in the literature. Case studies for each of the three thematic topics are provided with selected references to demonstrate challenges and solutions. As the scientific community gears up to enhance microclimatic stations, we envision significant increases in the use of smart sensors, wireless access, networking, open databases, and computational capabilities. Understanding and addressing some of the issues raised in this synthesis paper may help advance microclimate research and foster collaboration with other relevant disciplines, such as ecosystem science.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1975

Inert gases in fines at three levels of the trench at Van Serg Crater

Inert-gas measurements were conducted with three soil samples collected from a trench of about 17 cm depth which had been dug at Station 9, approximately 60-m southeast of the rim of Van Serg Crater on the moon. The particular trench is interesting because it is located in the continuous ejecta blanket of a relatively young crater. The results of the inert-gas measurements are presented in a table. They confirm an earlier conclusion reported by Heymann et al. (1974) that fines from Station 9 are among the most gas rich in the whole landing site. The three fines are agglutinate rich and most of the trapped gas is contained in the constructional particles. Agglutinate contents of fines tend to decrease rapidly for particles greater than about 250 micrometers.

Jordan, J. L.↗
NASA NTRS2010

The Role and Quality of Software Safety in the NASA Constellation Program

In this study, we examine software safety risk in the early design phase of the NASA Constellation spaceflight program. Obtaining an accurate, program-wide picture of software safety risk is difficult across multiple, independently-developing systems. We leverage one source of safety information, hazard analysis, to provide NASA quality assurance managers with information regarding the ongoing state of software safety across the program. The goal of this research is two-fold: 1) to quantify the relative importance of software with respect to system safety; and 2) to quantify the level of risk presented by software in the hazard analysis. We examined 154 hazard reports created during the preliminary design phase of three major flight hardware systems within the Constellation program. To quantify the importance of software, we collected metrics based on the number of software-related causes and controls of hazardous conditions. To quantify the level of risk presented by software, we created a metric scheme to measure the specificity of these software causes. We found that from 49-70% of hazardous conditions in the three systems could be caused by software or software was involved in the prevention of the hazardous condition. We also found that 12-17% of the 2013 hazard causes involved software, and that 23-29% of all causes had a software control. Furthermore, 10-12% of all controls were software-based. There is potential for inaccuracy in these counts, however, as software causes are not consistently scoped, and the presence of software in a cause or control is not always clear. The application of our software specificity metrics also identified risks in the hazard reporting process. In particular, we found a number of traceability risks in the hazard reports may impede verification of software and system safety.

Layman, Lucas↗
DOE OSTI2026

First Solar Thermal Energy Planner (STEP 1) and Nationwide Industrial Heat and Power Analysis

The First Solar Thermal Energy Planner (STEP 1) and Nationwide Industrial Heat and Power Analysis (aka the STEP 1 Project or the Project) aimed to (1) developed a brand-new web tool that could provide decision support through free, rapid techno-economic analysis of behind-the-meter solar+storage systems for industrial process heat and (2) conduct high-level analyses of the cost-competitiveness of the same systems across the US in key sectors. The STEP 1 web tool collects key location, land availability, thermal load profile, proccess heat temperature and media, and other key parameters through an easy-to-use user interface (UI). The UI was designed to meet the user at their level of understanding by minimizing the number of required inputs as much as possible while including options for more nuanced inputs if the user desires. STEP 1 advises users on which solar thermal tehcnologies that could fit their needs based on the inputs provided (namely process media and temperature). The tool can model a wide range of solar thermal technologies including flat plate collectors, evacuated tubes, parabolic troughs, linear Fresnel, and molten salt towers all with corresponding thermal energy storage (TES) - solar PV with resistive heating and TES is also included. Once the parameters are collected, a nominal thermal energy production profile for the facility's location is generated using NREL's System Advisory Model (SAM) and then passed to a modified version of NREL's REopt platform to optimize the size (capacity) and dispatch of the solar+storage system to minimize lifecycle costs subject to energy balance, fuel and electricity rates, emission reductions goals, and other constraints. This entire process takes less than 20 minutes, is completely free, requires zero coding skills, and provides the user with a high-level assessment on the techno-economic feasability of deploying solar+storage systems for their energy needs. In addition to the development of the STEP 1 web tool, the project completed two complementary analyses focused on leveraging the backend code of STEP 1, public industrial facility locations and fuel consumption data, and key sector information to assess the economic opportunity of reducing fuel costs at various levels of capacity factor around the US. Both analyses found that there are key markets, locations, industrial sectors (namely food and beverage), and degrees of offset where solar thermal technologies could be cost-effectively deployed, highlighting a key market entry point for these technologies, and assessing deployment potential. In summary, the STEP 1 project improved the opportunities for solar+storage systems to expand into the industrial process heat market through breaking down barriers to assessing these technologies.

14 SOLAR ENERGY↗
DOE OSTI2021

Measurement report: Molecular composition, optical properties, and radiative effects of water-soluble organic carbon in snowpack samples from northern Xinjiang, China

Abstract. Water-soluble organic carbon (WSOC) in the cryosphere has an important impact on the biogeochemistry cycling and snow–ice surface energy balance through changes in the surface albedo. This work reports on the chemical characterization of WSOC in 28 representative snowpack samples collected across a regional area of northern Xinjiang, northwestern China. We employed multimodal analytical chemistry techniques to investigate both bulk and molecular-level composition of WSOC and its optical properties, informing the follow-up radiative forcing (RF) modeling estimates. Based on the geographic differences and proximity of emission sources, the snowpack collection sites were grouped as urban/industrial (U), rural/remote (R), and soil-influenced (S) sites, for which average WSOC total mass loadings were measured as 1968 ± 953 ng g−1 (U), 885 ± 328 ng g−1 (R), and 2082 ± 1438 ng g−1 (S), respectively. The S sites showed the higher mass absorption coefficients at 365 nm (MAC365) of 0.94 ± 0.31 m2 g−1 compared to those of U and R sites (0.39 ± 0.11 m2 g−1 and 0.38 ± 0.12 m2 g−1, respectively). Bulk composition of WSOC in the snowpack samples and its basic source apportionment was inferred from the excitation–emission matrices and the parallel factor analysis featuring relative contributions of one protein-like (PRLIS) and two humic-like (HULIS-1 and HULIS-2) components with ratios specific to each of the S, U, and R sites. Additionally, a sample from site 120 showed unique pollutant concentrations and spectroscopic features remarkably different from all other U, R, and S samples. Molecular-level characterization of WSOC using high-resolution mass spectrometry (HRMS) provided further insights into chemical differences among four types of samples (U, R, S, and 120). Specifically, many reduced-sulfur-containing species with high degrees of unsaturation and aromaticity were uniquely identified in U samples, suggesting an anthropogenic source. Aliphatic/protein-like species showed the highest contribution in R samples, indicating their biogenic origin. The WSOC components from S samples showed high oxygenation and saturation levels. A few unique CHON and CHONS compounds with high unsaturation degree and molecular weight were detected in the 120 sample, which might be anthraquinone derivatives from plant debris. Modeling of the WSOC-induced RF values showed warming effects of 0.04 to 0.59 W m−2 among different groups of sites, which contribute up to 16 % of that caused by black carbon (BC), demonstrating the important influences of WSOC on the snow energy budget.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2013

Population Pharmacokinetics of Intranasal Scopolamine

Introduction: An intranasal gel dosage formulation of scopolamine (INSCOP) was developed for the treatment of Space Motion Sickness (SMS).The bioavailability and pharmacokinetics (PK) was evaluated using data collected in Phase II IND protocols. We reported earlier statistically significant gender differences in PK parameters of INSCOP at a dose level of 0.4 mg. To identify covariates that influence PK parameters of INSCOP, we examined population covariates of INSCOP PK model for 0.4 mg dose. Methods: Plasma scopolamine concentrations versus time data were collected from 20 normal healthy human subjects (11 male/9 female) after a 0.4 mg dose. Phoenix NLME was employed for PK analysis of these data using gender, body weight and age as covariates for model selection. Model selection was based on a likelihood ratio test on the difference of criteria (-2LL). Statistical significance for base model building and individual covariate analysis was set at P less than 0.05{delta(-2LL)=3.84}. Results: A one-compartment pharmacokinetic model with first-order elimination best described INSCOP concentration ]time profiles. Inclusion of gender, body weight and age as covariates individually significantly reduced -2LL by the cut-off value of 3.84(P less than 0.05) when tested against the base model. After the forward stepwise selection and backward elimination steps, gender was selected to add to the final model which had significant influence on absorption rate constant (ka) and the volume of distribution (V) of INSCOP. Conclusion: A population pharmacokinetic model for INSCOP has been identified and gender was a significant contributing covariate for the final model. The volume of distribution and Ka were significantly higher in males than in females which confirm gender-dependent pharmacokinetics of scopolamine after administration of a 0.4 mg dose.

Wu, L.↗
NASA NTRS2023

The 50-Year Landsat Collection 2 Archive

The Landsat global consolidated data archive now exceeds 50 years. In recognition of the need for consistently processed data across the Landsat satellite series, the U.S. Geological Survey (USGS) initiated collection-based processing of the entire archive that was processed as Collection 1 in 2016. In preparation for the data from the now successfully launched Landsat 9, the USGS reprocessed the Landsat archive as Collection 2 in 2020. This paper describes the rationale for, and the contents and advancements provided by Collection 2, and highlights the differences between the Collection 1 and Collection 2 products. Notably, the Collection 2 products have improved geolocation and, for the first time, the USGS provides a global inventory of Level 2 surface reflectance and surface temperature products. Also for the first time, the USGS used a commercial cloud computing architecture to efficiently process the archive and enable direct cloud access of the Landsat products. The paper concludes with discussion of likely improvements expected in Collection 3 in preparation for the Landsat Next mission that is planned for launch in the early 2030s.

Christopher J Crawford↗
DOE OSTI2023

Assessing complexity and dynamics in epidemics: geographical barriers and facilitators of foot-and-mouth disease dissemination

Introduction: Physical and non-physical processes that occur in nature may influence biological processes, such as dissemination of infectious diseases. However, such processes may be hard to detect when they are complex systems. Because complexity is a dynamic and non-linear interaction among numerous elements and structural levels in which specific effects are not necessarily linked to any one specific element, cause-effect connections are rarely or poorly observed. Methods: To test this hypothesis, the complex and dynamic properties of geo-biological data were explored with high-resolution epidemiological data collected in the 2001 Uruguayan foot-and-mouth disease (FMD) epizootic that mainly affected cattle. County-level data on cases, farm density, road density, river density, and the ratio of road (or river) length/county perimeter were analyzed with an open-ended procedure that identified geographical clustering in the first 11 epidemic weeks. Two questions were asked: (i) do geo-referenced epidemiologic data display complex properties? and (ii) can such properties facilitate or prevent disease dissemination? Results: Emergent patterns were detected when complex data structures were analyzed, which were not observed when variables were assessed individually. Complex properties–including data circularity–were demonstrated. The emergent patterns helped identify 11 counties as ‘disseminators’ or ‘facilitators’ (F) and 264 counties as ‘barriers’ (B) of epidemic spread. In the early epidemic phase, F and B counties differed in terms of road density and FMD case density. Focusing on non-biological, geographical data, a second analysis indicated that complex relationships may identify B-like counties even before epidemics occur. Discussion: Geographical barriers and/or promoters of disease dispersal may precede the introduction of emerging pathogens. If corroborated, the analysis of geo-referenced complexity may support anticipatory epidemiological policies.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2020

Application of end-of-shift respirable crystalline silica monitoring to construction

A pilot project was conducted to determine the effect of common construction dusts as interferences in a new portable end-of-shift (EoS), direct-on-filter (DoF) sampling and analysis method for respirable crystalline silica (RCS), in this case, quartz. Construction dusts were prepared from plaster, drywall, cement and brick by grinding, aerosolizing, and collecting respirable dust with high flow rate cyclones. Filters were loaded with different levels of commercial α-quartz powder Min-u-Sil 5, and different levels of interfering dusts, singly and in combination. Samples were analyzed by Fourier Transform Infrared Spectroscopy (FTIR). Good correlations were found between nominal quartz loading (0 µg, 25 µg, 50 µg, and 100 µg) adjusted for quartz in the interfering dust and FTIR absorbance alone and in the presence of all interfering dusts. The slopes of the correlations were similar whether the loading was quartz without interference, or with plaster, drywall, and cement dusts, regardless of quantity. The results show that (a) plaster and drywall dusts do not interfere substantially; (b) cement does not interfere, but a change in the intercept suggests an effect on the background absorbance of the filter; and (c) in addition to having a substantial quartz content, brick dust contains an additional material, probably a silicate mineral, which interferes with the quartz peak. Thus, the presence of cement leads to lower quartz values and brick leads to higher values, but overall, 83% of the quartz contents predicted from the calibration data agreed within 50% of the adjusted nominal loadings within the range 20–110 µg. This result is encouraging given the high levels of interfering dusts. Nine samples loaded with smaller amounts of all four dusts together gave results within 25% of the adjusted nominal loadings. A single mixture addition of the dusts to the filter gave tighter variance in results than sequential additions. Unexpectedly, the two Certified Reference Materials (CRMs) 1878a and 1878b, gave different results when used to calibrate XRD analysis of Min-u-Sil 5.

42 ENGINEERING↗
DOE OSTI2022

LiDAR Measurements of Wind Shear Exponents and Turbulence Intensity Offshore the Northeast United States

This paper presents wind speed shear exponents and turbulence intensity measurements collected from LiDARs measuring wind speeds from 40m to 200m above sea-level and provides comparisons to industry design guidelines. The high-altitude wind speed data are unique and represent some of the first measurements made offshore in this part of the country, which is actively being developed for offshore wind. The data is used to support the New England Aqua Ventus I Floating Offshore Wind Farm to be located 17km offshore the Northeast United States. Multiple LiDAR measurements were made using a DeepCLiDAR floating buoy and LiDARs located on a nearby island. Here, the measured wind speed shear exponents are compared against industry standard mesoscale model outputs and offshore design codes including the American Bureau of Shipping, American Petroleum Institute, and DNV-GL guides. Significant variation in the vertical wind speed profile occurs throughout the year which is not addressed in design standards. Additionally, turbulence intensity measurements made from the LiDAR, although not widely accepted in the scientific community, are presented and compared against industry guidelines.

42 ENGINEERING↗
DOE OSTI2021

Effects of a nuclear disturbed environment on a quantum free space optical link

This manuscript investigates the potential effect of a nuclear-disturbed atmospheric environment on the signal attenuation of a ground/satellite transmitter/receiver system for both classical optical and quantum communications applications. Attenuation of a signal transmitted through the rising nuclear cloud and the subsequently transported debris is modeled climatologically for surface-level detonations of 10 kt, 100 kt, and 1 Mt. Attenuation statistics were collected as a function of time after detonation. These loss terms were compared to normal loss sources such as clouds, smoke from fires, and clear sky operation. Finally, the loss was related to the degradation of transmitted entanglement derived from Bayesian mean estimation.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗