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Detecting Change in Urban Areas at Continental Scales with MODIS Data

Urbanization is one of the most important components of global environmental change, yet most of what we know about urban areas is at the local scale. Remote sensing of urban expansion across large areas provides information on the spatial and temporal patterns of growth that are essential for understanding differences in socioeconomic and political factors that spur different forms of development, as well the social, environmental, and climatic impacts that result. However, mapping urban expansion globally is challenging: urban areas have a small footprint compared to other land cover types, their features are small, they are heterogeneous in both material composition and configuration, and the form and rates of new development are often highly variable across locations. Here we demonstrate a methodology for monitoring urban land expansion at continental to global scales using Moderate Resolution Imaging Spectroradiometer (MODIS) data. The new method focuses on resolving the spectral and temporal ambiguities between urban/non-urban land and stable/changed areas by: (1) spatially constraining the study extent to known locations of urban land; (2) integrating multitemporal data from multiple satellite data sources to classify c. 2010 urban extent; and (3) mapping newly built areas (2000-2010) within the 2010 urban land extent using a multi-temporal composite change detection approach based on MODIS 250 m annual maximum enhanced vegetation index (EVI). We test the method in 15 countries in East-Southeast Asia experiencing different rates and manifestations of urban expansion. A two-tiered accuracy assessment shows that the approach characterizes urban change across a variety of socioeconomic/political and ecological/climatic conditions with good accuracy (70-91% overall accuracy by country, 69-89% by biome). The 250 m EVI data not only improve the classification results, but are capable of distinguishing between change and no-change areas in urban areas. Over 80% of the error in the change detection can be related to definitional issues or error propagation, rather than algorithm error. As such, these methods hold great potential for routine monitoring of urban change, as well as for providing a consistent and up-to-date dataset on urban extent and expansion for a rapidly evolving region.

Urban areas↗

Advanced Intelligent System Application to Load Forecasting and Control for Hybrid Electric Bus

The primary motivation for this research emanates from providing a decision support system to the electric bus operators in the municipal and urban localities which will guide the operators to maintain an optimal compromise among the noise level, pollution level, fuel usage etc. This study is backed up by our previous studies on study of battery characteristics, permanent magnet DC motor studies and electric traction motor size studies completed in the first year. The operator of the Hybrid Electric Car must determine optimal power management schedule to meet a given load demand for different weather and road conditions. The decision support system for the bus operator comprises three sub-tasks viz. forecast of the electrical load for the route to be traversed divided into specified time periods (few minutes); deriving an optimal 'plan' or 'preschedule' based on the load forecast for the entire time-horizon (i.e., for all time periods) ahead of time; and finally employing corrective control action to monitor and modify the optimal plan in real-time. A fully connected artificial neural network (ANN) model is developed for forecasting the kW requirement for hybrid electric bus based on inputs like climatic conditions, passenger load, road inclination, etc. The ANN model is trained using back-propagation algorithm employing improved optimization techniques like projected Lagrangian technique. The pre-scheduler is based on a Goal-Programming (GP) optimization model with noise, pollution and fuel usage as the three objectives. GP has the capability of analyzing the trade-off among the conflicting objectives and arriving at the optimal activity levels, e.g., throttle settings. The corrective control action or the third sub-task is formulated as an optimal control model with inputs from the real-time data base as well as the GP model to minimize the error (or deviation) from the optimal plan. These three activities linked with the ANN forecaster proving the output to the GP model which in turn produces the pre-schedule of the optimal control model. Some preliminary results based on a hypothetical test case will be presented for the load forecasting module. The computer codes for the three modules will be made available fe adoption by bus operating agencies. Sample results will be provided using these models. The software will be a useful tool for supporting the control systems for the Electric Bus project of NASA.

Momoh, James↗

Chapter 10 - Remote Sensing Measurements of Aerosol Properties

Satellite instruments have proven especially capable at monitoring the quantity of airborne particles in columns of atmosphere, globally. This chapter describes the principles of satellite measurements and retrieval algorithms, and surveys current instruments and their capabilities. We outline the issues associated with retrieval algorithms, such as surface characterization and aerosol proximity to clouds, and the challenges with interpretation of the results. The relationship between measured aerosol properties and climate-relevant aerosol properties simulated in models is outlined, as well as how measurements are used to evaluate models. Most space-based aerosol instruments are passive sensors that measure reflected sunlight at multiple wavelengths, some at multiple viewing angles. A few are active sensors that send out their own laser light and measure the returned signal. Except when clouds are present, the excess amount of light scattered back to space, beyond that expected from the surface and atmospheric gas, is attributed to aerosol. Satellite measurements are used in many ways in aerosol research. They often provide the only method for monitoring hazardous phenomena such as major wildfire and volcanic eruption plumes, especially in remote areas. Stable, long-term, near-global-scale satellite data records make it possible to identify regional and global aerosol trends. Aerosol radiative effects on climate can be quantified on a near-global scale and used to estimate the strength of aerosol–radiation and aerosol–cloud interactions as well as to evaluate climate model simulations of these interactions. Aerosol-type mapping from satellite imagery is helpful for source attribution, model validation, and to constrain particle light-absorption properties that are essential for radiative forcing calculations. The range of aerosol properties retrieved from satellite observations has grown considerably since the first global estimates of aerosol optical depth (τ a) over ocean were made in the late 1970s. Methods for retrieving particle size and light-absorption properties were explored in the 1990s using multispectral, multi-angle observations, and polarization in visible and near-infrared wavelengths. Sensitivity to particle light absorption, primarily from black or brown carbon content, improved with the inclusion of UV channels, and sensitivity to very thin aerosol layers in the upper troposphere and lower stratosphere was advanced with the use of limb-sounding instruments and active sensors. There are limitations to every measurement technique, including satellite aerosol remote sensing. For wide-swath, passive instruments, aerosol retrievals near clouds can present substantial challenges as far as 15 km away due to cloud-scattered light contaminating the signal. In nearly all cases, retrievals over bright snow and ice surfaces are precluded because surface reflectance uncertainties can overwhelm the aerosol signal. Similarly, meteorological cloud is identified and masked out where possible. Data from passive sensors also lack vertical resolution except those that view toward the limb or where multi-angle imagery is acquired over plumes from wildfires, erupting volcanoes, and wind-blown dust. Yet, passive sensors provide vastly more coverage than the active instruments that mitigate these issues. Particle microphysical information is qualitative from all remote sensing techniques, relying on proxies to infer particle composition, hygroscopicity, and the amount of light-absorbing material. Further, particles smaller than about 200 nm diameter cannot be distinguished from atmospheric gas molecules with remote sensing, which hinders studies of cloud condensation nuclei and their effects on clouds. Most satellite instruments dedicated to aerosol observations are in low-Earth, near-polar, sun-synchronous orbits, which means they cross the equator at the same local time each day. Most are set on cycles that repeat approximately every 16 days, which makes it difficult to monitor aerosol evolution locally. Geostationary satellites make it possible to observe changes occurring from minutes to hours over regions up to 8000 km in size, but lack coverage of high latitudes, and often provide more limited constraints on aerosol properties. Ground-truth data are vital for satellite aerosol-retrieval validation. The AErosol RObotic NETwork (AERONET) of sun photometers was created in 1993 and has become an established global network of over 350 instruments for validating satellite measurements. The network, as well as global networks of ground-based lidars, solar flux radiometers and other sun photometers, are widely used for evaluating global satellite retrievals and model simulations. NASA's Earth Observing System (EOS) program beginning in 1999 led to improvements in reliability, spatial resolution, and spectral resolution (and hence, to improved particle size discrimination and light absorption properties). Satellite payloads include advanced broad-swath and multi-angle imagers, along with the first space-based active sensor focused largely on long-term aerosol monitoring. Since about 2002, Europe's SENTINEL and operational meteorological satellite fleets are also providing sustained aerosol observations, with planned continuation until at least 2030. Satellite remote sensing instruments offer valuable data for evaluating aerosol representations in global climate models. They have been used to assess aerosol optical and physical properties, trends and distributions, and are applied increasingly as direct model constraints in data assimilation to create global aerosol reanalysis products. Aerosol optical depth is the most common quantity adopted for routine model evaluation, including multiwavelength data to loosely constrain particle-size distributions. These evaluations of multiple models have revealed general biases in their regional aerosol amounts and seasonal patterns of transport and removal. Although satellite measurements have near-global coverage, substantial errors can be introduced into the model observation comparison unless attention is paid to spatial and temporal collocation, cloud screening, subgrid-scale variability, and measurement uncertainties that vary with retrieval conditions.

aerosol properties↗

The Re-Analysis of Ozone Profile Data from a 41-Year Series of SBUV Instruments

In this study we present the validation of ozone profiles from a number of Solar Back Scattered Ultra Violet (SBUV) and SBUV/2 instruments that were recently reprocessed using an updated (Version 8.6) algorithm. The SBUV dataset provides the longest available record of global ozone profiles, spanning a 41-year period from 1970 to 2011 (except a 5-year gap in the 1970s) and includes ozone profile records obtained from the Nimbus-4 BUV and Nimbus-7 SBUV instruments, and a series of SBUV(/2) instruments launched on NOAA operational satellites (NOAA 09, 11, 14, 16, 17, 18, 19). Although modifications in instrument design were made in the evolution from the BUV instrument to the modern SBUV(/2) model, the basic principles of the measurement technique and retrieval algorithm remain the same. The long term SBUV data record allows us to create a consistent, calibrated dataset of ozone profiles that can be used for climate studies and trend analyses. In particular, we focus on estimating the various sources of error in the SBUV profile ozone retrievals using independent observations and analysis of the algorithm itself. For the first time we include in the metadata a quantitative estimate of the smoothing error, defined as the error due to profile variability that the SBUV observing system cannot inherently measure. The magnitude of the smoothing error varies with altitude, latitude, season and solar zenith angle. Between 10 and 1 hPa the smoothing errors for the SBUV monthly zonal mean retrievals are of the order of 1 %, but start to increase above and below this layer. The largest smoothing errors, as large as 15-20%, were detected in in the troposphere. The SBUV averaging kernels, provided with the ozone profiles in version 8.6, help to eliminate the smoothing effect when comparing the SBUV profiles with high vertical resolution measurements, and make it convenient to use the SBUV ozone profiles for data assimilation and model validation purposes. The smoothing error can also be minimized by combining layers of data, and we will discuss recommendations for this approach as well. The SBUV ozone profiles have been intensively validated against satellite profile measurements obtained from the Microwave Limb Sounders (MLS) (on board the UARS and AURA satellites), Stratospheric Aerosol and Gas Experiment (SAGE) and Michelson Interferometer for Passive Atmospheric Sounding (MIPAS). Also, we compare coincident and collocated SBUV ozone retrievals with observations made by ground-based instruments, such as microwave spectrometers, lidars, Umkehr instruments and balloon-borne ozonosondes. Finally, we compare the SBUV ozone profiles with output from the NASA GSFC GEOS-CCM model. In the stratosphere between 25 and 1 hPa the mean biases and standard deviations are within 5% for monthly mean ozone profiles. Above and below this layer the vertical resolution of the SBUV algorithm decreases and the effects of vertical smoothing should be taken into account. Though the SBUV algorithm has a coarser vertical resolution in the lower stratosphere and troposphere, it is capable of precisely estimating the integrated ozone column between the surface and 25 hPa. The time series of the tropospheric - lower stratospheric ozone column derived from SBUV agrees within 5% with the corresponding values observed by an ensemble of ozone sonde stations in North Hemisphere. Drift of the ozone time series obtained from each SBUV(/2) instrument relative to ground based and satellite measurements are evaluated and some features of individual SBUV(l2) instruments are discussed. In addition to evaluating individual instruments against independent observations, we also focus on the instrument to instrument consistency in the series. Overall, Version 8.6 ozone profiles obtained from two different SBUV(l2) instruments compare within a couple of percent during overlap periods and are consistently varying in time, with some exceptions. Some of the noted discrepancies might bssociated with ozone diurnal variations, since the difference in the local time of the observations for a pair of SBUV(l2) instruments could be several hours. Other issues include the potential short-term drift in measurements as the instrument orbit drifts, and measurements are obtained at high solar zenith angles (>85 ). Based on the results of the validation, a consistent, calibrated dataset of SBUV ozone profiles has been created based on internal calibration only.

Kramarova, Natalya↗

Cooperative Three-Robot System for Traversing Steep Slopes

Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data from all three robots for decision- making at each step, and to control the physical connections among the robots. In addition, TRESSA (as in prior systems that have utilized this architecture) , incorporates a capability for deterministic response to unanticipated situations from yet another architecture reported in Control Architecture for Robotic Agent Command and Sensing (NPO-43635), NASA Tech Briefs, Vol. 32, No. 10 (October 2008), page 40. Tether tension control is a major consideration in the design and operation of TRESSA. Tension is measured by force sensors connected to each tether at the Cliffbot. The direction of the tension (both azimuth and elevation) is also measured. The tension controller combines a controller to counter gravitational force and an optional velocity controller that anticipates the motion of the Cliffbot. The gravity controller estimates the slope angle from the inclination of the tethers. This angle and the weight of the Cliffbot determine the total tension needed to counteract the weight of the Cliffbot. The total needed tension is broken into components for each Anchorbot. The difference between this needed tension and the tension measured at the Cliffbot constitutes an error signal that is provided to the gravity controller. The velocity controller computes the tether speed needed to produce the desired motion of the Cliffbot. Another major consideration in the design and operation of TRESSA is detection of faults. Each robot in the TRESSA system monitors its own performance and the performance of its teammates in order to detect any system faults and prevent unsafe conditions. At startup, communication links are tested and if any robot is not communicating, the system refuses to execute any motion commands. Prior to motion, the Anchorbots attempt to set tensions in the tethers at optimal levels for counteracting the weight of the Cliffbot; if either Anchorbot fails to reach its optimal tension level within a specified time, it sends message to the other robots and the commanded motion is not executed. If any mechanical error (e.g., stalling of a motor) is detected, the affected robot sends a message triggering stoppage of the current motion. Lastly, messages are passed among the robots at each time step (10 Hz) to share sensor information during operations. If messages from any robot cease for more than an allowable time interval, the other robots detect the communication loss and initiate stoppage.

Stroupe, Ashley↗

The Temporal and Spatial Development of dB/dt for Substorms

Ground induced currents (GICs) due to space weather are a threat to high voltage power transmission systems. However, knowledge of ground conductivity is the largest source of errors in the determination of GICs. A good proxy for GICs is dB/dt obtained from the Bx and By components of the magnetic field fluctuations. It is known that dB/dt values associated with magnetic storms can reach dangerous levels for power transmission systems. On the other hand, it is not uncommon for dB/dt values associated with substorms to exceed prior Pulkkinen and Molinski critical thresholds of 1.5 nT/s and 5 nT/s, respectively, and the temporal and spatial changes of the dB/dt associated with substorms, unlike storms, are not well understood. Using two dimensional maps of dB/dt over North America and Greenland derived from the spherical elementary currents, we investigate the temporal and spatial change of dB/dt for both a single substorm event and a two dimensional superposed epoch analysis of many substorms. Both the single event and the statistical analysis shows a sudden increase of dB/dt at substorm onset followed by an expansion poleward, westward, and eastward after the onset during the expansion phase. The area of dB/dt values exceeding the two critical thresholds from the initial onset dB/dt values showed little to no expansion equatorward. The temporal and spatial development of the dB/dt resembles the temporal and spatial change of the auroral emissions. Substorm values of dB/dt peak shortly after the auroral onset time and in at least one event exceeded 35 nT/s for a non-storm time substorm. In many of our 81 cases the area that exceeds the threshold of 1.5 nT/s is over several million square kilometers and after about 30 minutes the dB/dt values fall below the threshold level. These results address one of goals of the Space Weather Action Plan, which are to establish benchmarks for space weather events and improve modeling and prediction of their impacts on infrastructure. Plain language: The change in the ground magnetic field with respect to time (dB/dt) associated with magnetic storms (a large disturbance of the magnetic field of the earth) can reach dangerous levels for power transmission systems. On the other hand, substorms, which are a smaller more localized disturbance of the Earth’s magnetic field, are more common. It is not uncommon for substorm dB/dt values to also exceed dangerous levels and the temporal and spatial changes of the dB/dt associated with substorms, unlike storms, are not well understood. Our analysis shows a sudden increase of dB/dt at substorm onset, which peaks shortly after the start of the substorm, followed shortly after by an expansion northward, westward, and eastward after the onset.

ionospheric currents↗

Biomass Estimation from Simulated GEDI, ICESat-2 and NISAR Across Environmental Gradients in Sonoma County, California

Estimates of the magnitude and distribution of aboveground carbon in Earth’s forests remain uncertain, yet knowledge of forest carbon content at a global scale is critical for forest management in support of climate mitigation. In light of this knowledge gap, several upcoming spaceborne missions aim to map forest aboveground biomass, and many new biomass products are expected from these datasets. As these new missions host different technologies, each with relative strengths and weaknesses for biomass retrieval, as well as different spatial resolutions, consistently comparing or combining biomass estimates from these new datasets will be challenging. This paper presents a demonstration of an inter-comparison of biomass estimates from simulations of three NASA missions (GEDI, ICESat-2 and NISAR) over Sonoma county in California, USA. We use a high resolution, locally calibrated airborne lidar map as our reference dataset, and emphasize the importance of considering uncertainties in both reference maps and spaceborne estimates when conducting biomass product validation. GEDI and ICESat-2 were simulated from airborne lidar point clouds, while UAVSAR’s L-band backscatter was used as a proxy for NISAR. To estimate biomass for the lidar missions we used GEDI’s footprint-level biomass algorithms, and also adapted these for application to ICESat-2. For UAVSAR, we developed a locally trained biomass model, calibrated against the ALS reference map. Each mission simulation was evaluated in comparison to the local reference map at its native product resolution (25 m, 100m transect, and 1 ha) yielding RMSEs of 57%, 75%, and 89% for GEDI, NISAR, and ICESat-2 respectively. RMSE values increased for GEDI’s power beam during simulated daytime conditions (64%), coverage beam during nighttime conditions (72%), and coverage beam daytime conditions (87%). We also test the application of GEDI’s biomass modeling framework for estimation of biomass from ICESat-2, and fine that ICESat-2 yields reasonable biomass estimates, particularly in relatively short, open canopies. Results suggest that while all three missions will produce datasets useful for biomass mapping, tall, dense canopies such as those found in Sonoma County present the greatest challenges for all three missions, while steep slopes also prove challenging for single-date SAR based biomass retrieval. Our methods provide guidance for the inter-comparison and validation of spaceborne biomass estimates through the use of airborne lidar reference maps, and could be repeated with on-orbit estimates in any area with high quality field plot and ALS data. These methods allow for regional interpretations and filtering of multi-mission biomass estimates toward improved wall-to-wall biomass maps through data fusion.

GEDI↗

Navigation Strategy for the Mars 2001 Lander Mission

The Mars Surveyor Program (MSP) is an ongoing series of missions designed to robotically study, map and search for signs of life on the planet Mars. The MSP 2001 project will advance the effort by sending an orbiter, a lander and a rover to the red planet in the 2001 opportunity. Each vehicle will carry a science payload that will Investigate the Martian environment on both a global and on a local scale. Although this mission will not directly search for signs of life, or cache samples to be returned to Earth, it will demonstrate certain enabling technologies that will be utilized by the future Mars Sample Return missions. One technology that is needed for the Sample Return mission is the capability to place a vehicle on the surface within several kilometers of the targeted landing site. The MSP'01 Lander will take the first major step towards this type of precision landing at Mars. Significant reduction of the landed footprint will be achieved through two technology advances. The first, and most dramatic, is hypersonic aeromaneuvering; the second is improved approach navigation. As a result, the guided entry will produce in a footprint that is only tens of kilometers, which is an order of magnitude improvement over the Pathfinder and Mars Polar Lander ballistic entries. This reduction will significantly enhance scientific return by enabling the potential selection of otherwise unreachable landing sites with unique geologic interest and public appeal. A landed footprint reduction from hundreds to tens of kilometers is also a milestone on the path towards human exploration of Mars, where the desire is to place multiple vehicles within several hundred meters of the planned landing site. Hypersonic aeromaneuvering is an extension of the atmospheric flight goals of the previous landed missions, Pathfinder and Mars Polar Lander (MPL), that utilizes aerodynamic lift and an autonomous guidance algorithm while in the upper atmosphere. The onboard guidance algorithm will control the direction of the lift vector, via bank angle modulation, to keep the vehicle on the desired trajectory. While numerous autonomous guidance algorithms have been developed for use during hypersonic flight at Earth, this will be the first flight of an autonomously directed lifting entry vehicle at Mars. However, without sufficient control and knowledge of the atmospheric entry conditions, the guidance algorithm will not perform effectively. The goal of the interplanetary navigation strategy is to deliver the spacecraft to the desired entry condition with sufficient accuracy and knowledge to enable satisfactory guidance algorithm performance. Specifically, the entry flight path angle must not exceed 0.27 deg. to a 3 sigma confidence level. Entry errors will contribute directly to the size of the landed footprint and the most significant component is entry flight path angle. The size of the entry corridor is limited on the shallow side by integrated heating constraints, and on the steep side by deceleration (g-load) and terminal descent propellant. In order to meet this tight constraint it is necessary to place a targeting maneuver seven hours prior to the time of entry. At this time the trajectory knowledge will be quite accurate, and the effects of maneuver execution errors will be small. The drawback is that entry accuracy is dependent on the success of this final late maneuver. Because propulsive maneuvers are critical events, it is desirable to minimize their occurrence and provide the flight team with as much response time as possible in the event of a spacecraft fault. A mission critical maneuver at Entry - 7 hours does not provide much fault tolerance, and it is desirable to provide a strategy that minimizes reliance on this maneuver. This paper will focus on the Improvements in interplanetary navigation that will decrease entry errors and will reduce the landed footprint, even in the absence of aeromaneuvering. The easiest to take advantage of are Improvements In the knowledge of the Mars ephemeris and gravity field due to the MGS and MSP'98 missions. Improvements In data collection and reduction techniques such as "precislon ranging' and near-simultaneous tracking will also be utilized. In addition to precise trajectory control, a robust strategy for communications and flight operations must also be demonstrated. The result Is a navigation and communications strategy on approach that utilizes optimal maneuver placement to take advantage of trajectory knowledge, minimizes risk for the flight operations team, is responsive to spacecraft hardware limitations, and achieves the entry corridor. The MSP2001 mission Is managed at JPL under the auspices of the Mars Exploration Directorate. The spacecraft flight elements are built and managed by Lockheed-Martin Astronautics in Denver, Colorado.

Mase, Robert A.↗

ERRATUM: FERMI Large Area Telescope Study of Cosmic-Rays and the Interstellar Medium in Nearby Molecular Clouds

In the published version of the paper, errors were made in calculating the exposure time due to an analysis mistake. While they do not affect gas emissivities of the R CrA and Cepheus & Polaris flare regions significantly (the differences are within the systematic uncertainty), that of the Chamaeleon region is increased by approx.20%. Although we claimed a difference of ∼50% in gas emissivity among these molecular cloud regions in the original paper, it is decreased to ∼30% (comparable to the sum of the statistical and systematic uncertainties) in the revised analysis. Therefore, our conclusion of the original paper, that a small variation (approx. 20%) of the CR density in the solar neighborhood exists, is not supported by the data if we take these uncertainties into account. On the other hand, the obtained XCO and XAv values, and the masses of gas calculated from them are not changed significantly (the differences are within the statistical errors). Errors and corrections in the original paper are summarized below. 1. In the Abstract (lines 5-6) and Section 3 (lines 4-5 in the 3rd paragraph) in the original paper, the gamma -ray emissivity above 250 MeV for the Chamaeleon region should be (7.2 +/- 0.1stat +/- 1.0sys) × 10(exp −27) photons/s/sr/H-atom, not (5.9 +/-0.1stat +0.9−1.0sys) × 10(exp −27) photons/s/sr/H-atom. 2. In the Abstract (lines 8-10), "Whereas the energy dependences of the emissivities agree well with that predicted from direct CR observations at the Earth, the measured emissivities from 250 MeV to 10 GeV indicate a variation of the CR density by approx.20% in the neighborhood of the solar system, even if we consider the systematic uncertainties." should be changed to "The energy dependences of the emissivities agree well with that predicted from direct CR observations at the Earth. Although the measured emissivities from 250 MeV to 10 GeV differ by approx.30% among these molecular cloud regions, the difference is not significant if we take the systematic uncertainty into account." 3. Table 1 and Figure 13, which show gas emissivities and spectra for the Chamaeleon region in the original paper, should be changed to the Table 1 and Figure 1 as shown below. 4. Figure 16, which compares Hi gas emissivities among several regions in the original paper, should be changed to Figure 2 as shown below. 5. The text from the line 13 to the last one in the first paragraph of Section 4.1, "The spectral shapes for the three regions..., indicating a difference of the CR density between the Chamaeleon and the others as shown in Figure 16." should be changed to the paragraph that follows. "The shaded area of each spectrum indicates the systematic uncertainty as described in Section 3. We note that the systematic uncertainty of the LAT effective area (5% at 100 MeV and 20% at 10 GeV; Rando et al. 2009) does not affect the relative value of emissivities. The effect of unresolved point sources is small; we have verified that the obtained emissivities are almost unaffected by decreasing the threshold for point sources from TS = 100 to TS = 50. We also confirmed that the residual excess of photons around (l = 280deg to 288deg, b = −20deg to −12deg; see the bottom panel of Figure 8) in the Chamaeleon region does not affect the local Hi emissivity very much. Thus the total systematic uncertainty is reasonably expressed by the shaded area shown in Fig. 1.

emissivities↗

The Local Supercluster as a test of cosmological models

The Local Supercluster kinematic properties (the Local Group infall toward the Virgo Cluster and galaxy density distribution about the Virgo Cluster) in various cosmological models are examined utilizing large-scale N-body (PM) simulations 500(exp 3) cells, 250(exp 3) particles, and box size of 400 h(exp -1) Mpc) and are compared to observations. Five models are investigated: (1) the standard, Cosmic Background Explorer Satellite (COBE)-normalized cold dark matter (CDM) model with omega = 1, h = 0.5, and sigma(sub 8) = 1.05; (2) the standard Hot Dark Matter (HDM) model with omega = 1, h = 0.75, and sigma(sub 8) = 1; (3) the tilted CDM model with omega = 1, h = 0.5, n = 0.7, and sigma(sub 8) = 0.5; (4) a CDM + lambda model with omega = 0.3, lambda = 0.7, h = 2/3, and sigma(sub 8) = 2/3; (5) the PBI model with omega = 0.2, h = 0.8, x = 0.1, m = -0.5, and sigma(sub 8) = 0.9. Comparison of the five models with the presently available observational measurements v(sub LG) = 85 - 305 km/s (with mean of 250 km/s), delta(n(sub g))/(n(sub g)-bar) = 1.40 + or - 0.35) suggests that an open universe with omega approximately 0.5 (with or without lambda) and sigma(sub 8) approximately 0.8 is preferred, with omega = 0.3-1.0 (with or without lambda) and sigma(sub 8) = 0.7-1.0 being the acceptable range. At variance with some previous claims based on either direct N-body or spherical nonlinear approaches, we find that a flat model with sigma(sub 8) approximately 0.7-1.0 seems to be reasonably consistent with observations. However, if one favors the low limit of v(sub LG) = 85 km/s, then an omega approximately 0.2-0.3 universe seems to provide a better fit, and flat (omega = 1) models are ruled out at approximately 95% confidence level. On the other hand, if the high limit of v(sub LG) = 350 km/s is closer to the truth, then it appears that omega approximately 0.7-0.8 is more consistent. This test is insensitive to the shape of the power spectrum, but rather sensitive to the normalization of the perturbation amplitude on the relevant scale (e.g., sigma(sub 8)) and omega. We find that neither linear nor nonlinear relations (with spherical symmetry) are good approximations for the relation between radial peculiar velocity and density perturbation, i.e., nonspherical effects and gravitational tidal field are important. The derived omega using either of the two relations is underestimated. In some cases, this error is as large as a factor of 2-4.

Cen, Renyue↗

The Analysis and Design of Low Boom Configurations Using CFD and Numerical Optimization Techniques

The use of computational fluid dynamics (CFD) for the analysis of sonic booms generated by aircraft has been shown to increase the accuracy and reliability of predictions. CFD takes into account important three-dimensional and nonlinear effects that are generally neglected by modified linear theory (MLT) methods. Up to the present time, CFD methods have been primarily used for analysis or prediction. Some investigators have used CFD to impact the design of low boom configurations using trial and error methods. One investigator developed a hybrid design method using a combination of Modified Linear Theory (e.g. F-functions) and CFD to provide equivalent area due to lift driven by a numerical optimizer to redesign or modify an existing configuration to achieve a shaped sonic boom signature. A three-dimensional design methodology has not yet been developed that completely uses nonlinear methods or CFD. Constrained numerical optimization techniques have existed for some time. Many of these methods use gradients to search for the minimum of a specified objective function subject to a variety of design variable bounds, linear and nonlinear constraints. Gradient based design optimization methods require the determination of the objective function gradients with respect to each of the design variables. These optimization methods are efficient and work well if the gradients can be obtained analytically. If analytical gradients are not available, the objective gradients or derivatives with respect to the design variables must be obtained numerically. To obtain numerical gradients, say, for 10 design variables, might require anywhere from 10 to 20 objective function evaluations. Typically, 5-10 global iterations of the optimizer are required to minimize the objective function. In terms of using CFD as a design optimization tool, the numerical evaluation of gradients can require anywhere from 100 to 200 CFD computations per design for only 10 design variables. If one CFD computation requires an hour of computational time on a Cray computer, one can see that the use of constrained numerical optimization quickly becomes impractical.Hence, in order to practically couple a numerical design optimization technique with a CFD method, the CFD method must be extremely efficient with running times on the order of only minutes. The CFD Euler code developed under NASA sponsorship and referred to as MIM3D-SB for the most part fulfills these efficiency requirements. Analysis of wing- body configurations can be computed in a matter of a few minutes. The present study will concentrate on the feasibility of the use of this CFD code in conjunction with a numerical design optimization technique for the sonic boom reduction of candidate HSCT configurations. A preliminary supersonic aircraft design system has been established that utilizes the numerical design optimization code NPSOL developed at Stanford University coupled with the supersonic NUM3D-SB CFD code. Many questions still need to be answered in regard to using CFD and numerical optimizers as design tools. There are difficulties related to both the CFD codes and the numerical optimizers. Numerical optimizers can converge to a local minima rather than a global minima. This behavior is largely a function of the initial guess in the design space. The optimizer also is searching for a minimum of the function in terms of its derivative without any regard to the actual function value. Numerically (i.e. CFD) determined gradients can also generate spurious numerical local minima. In addition, for the sonic boom problem, grid fineness will also determine the accuracy of the final design solution. Design optimization methods work well on problems defined by continuous objective functions. The sonic boom signature design problem is not necessarily defined by a continuous objective function. The signature can have a variety of shapes; i.e. from N-wave to multiple shocks. The far-field or ground signature may not transition continuously from one shape to another and hence, may exhibit discontinuous behavior. This is also a source of difficulty in using design optimization methods.In the following sections, several low boom and one reference aircraft configuration will be analyzed to predict their sonic boom signature characteristics. Modifications to some of these designs will also be presented to demonstrate the feasibility of using CFD as a design tool and to demonstrate the feasibility of designing shaped sonic boom signatures. Design modifications to some configurations will be presented to demonstrate the feasibility of achieving shaped signatures with reduced levels and not necessarily to represent realistic or aerodynamically efficient design modifications. Fuselage volume or camber are used as design variables in order to have a minimal effect on the primary wing aerodynamics. The paper will also seek to demonstrate whether a hybrid or ramped signature is feasible to achieve. For the low-boom configurations, the CFD predicted signatures will be compared qualitatively to their MLT design signatures.

Siclari, Michael J.↗

Five-Year Wilkinson Microwave Anisotropy Probe Observations: Data Processing, Sky Maps, and Basic Results

We present new full-sky temperature and polarization maps in five frequency bands from 23 to 94 GHz, based on data from the first five years of the Wilkinson Microwave Anisotropy Probe (WMAP) sky survey. The new maps are consistent with previous maps and are more sensitive. The five-year maps incorporate several improvements in data processing made possible by the additional years of data and by a more complete analysis of the instrument calibration and in-flight beam response. We present several new tests for systematic errors in the polarization data and conclude that W-band polarization data is not yet suitable for cosmological studies, but we suggest directions for further study. We do find that Ka-band data is suitable for use; in conjunction with the additional years of data, the addition of Ka band to the previously used Q- and V-band channels significantly reduces the uncertainty in the optical depth parameter, tau. Further scientific results from the five-year data analysis are presented in six companion papers and are summarized in Section 7 of this paper. With the five-year WMAP data, we detect no convincing deviations from the minimal six-parameter ACDM model: a flat universe dominated by a cosmological constant, with adiabatic and nearly scale-invariant Gaussian fluctuations. Using WMAP data combined with measurements of Type Ia supernovae and Baryon Acoustic Oscillations in the galaxy distribution, we find (68% CL uncertainties): OMEGA(sub b)h(sup 2) = 0.02267(sup +0.00058)(sub -0.00059), OMEGA(sub c)h(sup 2) = 0.1131 plus or minus 0.0034, OMEGA(sub logical and) = 0.726 plus or minus 0.015, ns = .960 plus or minus 0.013, tau = 0.84 plus or minus 0.016, and DELTA(sup 2)(sub R) = (22.445 plus or minus 0.096) x 10(exp -9) at k = 0.002 Mpc(exp -1). From these we derive sigma(sub 8) = 0.812 plus or minus 0.026, H(sub 0) = 70.5 plus or minus 1.3 kilometers per second Mpc(exp -1), OMEGA(sub b) = 0.0456 plus or minus 0.0015, OMEGA(sub c) = .228 plus or minus 0.013, OMEGA(sub m)h(sup 2) = 0.1358(sup +0.0037)(sub -0.0036), z reion = 10.9 plus or minus 1.4, and t(sub 0) = 13.72 plus or minus 0.12 Gyr. The new limit on the tensor-to-scalar ration is r less than 0.22 (95% CL), while the evidence for a running spectral index is insignificant, dn(sub s)/d ln k = -0.028 plus or minus 0.020 (68% CL). We obtain tight, simultaneous limits on the (constant) dark energy equation of state and the spatial curvature of the universe: -0.14 less than 1 + w less than 0.12 (95% CL) and -0.0179 less than OMEGA(sub k) less than 0.0081 (95% CL). The number of relativistic degrees of freedom, expressed in units of the effective number of neutrino species, is found to be N(sub eff) = 4.4 plus or minus 1.5 (69% CL), consistent with the standard value of 3.04. Models with N(sub eff) = 0 are disfavored at greater than 99% confidence. Finally, new limits on physically motivated primordial non-Gaussianity parameters are -9 less than f(sup local)(sub NL) less than 111 (95% CL) and -151 less than f(sup equal)(sub NL) less than 253 (95% CL) for the local and equilateral models, respectively.

Hinshaw, G.↗

Supervisory Control with Dual Tasking in Post G-Transition Vehicle Landings

BACKGROUND Landing during exploration spaceflight may consist of both planned automated supervisory control and unplanned crew override. Supervisory control, particularly when performed under cognitive load with additional monitoring tasks, is essential for ensuring overall mission success during landing contingencies. Evaluating performance in a relevant Human Landing System (HLS) supervisory landing task after long-duration microgravity exposure can help identify potential risks from human error and sensorimotor alterations. Adaptive changes in the sensorimotor system can manifest during g-transitions as spatial disorientation. Although training and landing aids facilitate successful landings despite disorientation, these adaptive changes may heighten cognitive demand, which must be considered in the landing strategy. It is important to characterize these effects as soon as possible following the G-transition while the sensorimotor system remains in a state of adaptive flux to inform appropriate countermeasures. METHODS A Multi-attribute Lunar Table Battery (MALTB) task was developed for an iOS tablet device to provide flexible crew testing and training capabilities in-flight and on the ground. Elements of the tablet task were derived from the Multi-Attribute Task Battery (MATB, Cegarra et al. 2020). The task requires crew members to study a map of a planned landing site and memorizing the terrain and surface landmarks to inform potential divert maneuvers during landing. The user will oversee a series of approaches through touchdown simulations on the tablet with an external camera view of the Lunar surface. The primary responsibility of the crew member will be to execute a divert if the guidance recommended site is erroneous (e.g., the guidance projected landing target is not within 10m of the planned landing site center), or the projected landing site is no longer suitable due to surface obstacles. Considering vehicle maneuverability and fuel reserves, the divert capabilities will diminish as the task progresses. In cases where a divert is initiated, a new landing target will need to be designated by the user and will be evaluated for the proximity to the original pre-planned site. A secondary operational monitoring task will challenge the user's cognitive reserve by requiring the user to maintain several gauges within acceptable limits and respond to a visual indicator while completing the landing approach. Outcome measures include distance from the planned landing site to the user-initiate divert landing location, ground slope at the new landing site, time to divert, the ability to accomplish the secondary monitoring tasks, and perceived workload. The tablet task is being evaluated in a ground-based study to determine the learning effect of first-time users. The tablet task will be utilized in a flight study to test performance multiple times postflight. Future potential testing in-flight have been identified for capsules with iOS tablet devices. Multi-attribute Lunar Table Battery Task MALTB comprises video footage of thirty distinct landing conditions. The landing scenarios feature various landing sites (n = 3), hazardous object sizes (n = 6), sun azimuth degrees (n = 4), camera modes (i.e., fixed or gimbaled), and navigation bias (i.e., true or false). Each seventy second trial uses a sixty-degree constant glideslope trajectory. The application architecture and layout include user identification setup and data storing, a guided walkthrough of the task and interface components, practice mode for task familiarization, and a modified Bedford workload scale administered following task completion. The time-based dependent measures are saved locally to the iOS Files application and post-processing scripts have been developed to evaluate the remaining measures of performance. RELEVANCE This project will deliver an operational demonstration of crew monitoring capability following spaceflight and identify potential deficits that may require remediation. Comparison of individual vestibular and cognitive changes with crew performance will help better characterize the landing risks associated with sensorimotor alterations. ACKNOWLEDGEMENTS: This project is funded by NASA’s Human Research Program Human Health Countermeasures Element. REFERENCES Cegarra J, Valery B, Avril E, Calmettes C, Navarro J (2020) OpenMATB: A Multi-Attribute Task Battery promoting task customization, software extensibility and experiment replicability. Behav Res Methods 52:1980-1990 doi: 10.3758/s13428-020-01364-w

Matthew McDonnell↗