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By a symmetry argument, a synthetic aperture radar collection along a linear path does not collect three-dimensional information about the scene. However, it is known that vertical curvature can be used to derive some vertical position information. This paper approaches the problem from a monopulse perspective, resulting in a non-iterative computation that commutes with efficient image formation algorithms.
Cloud base height (CBH) and cloud base vertical velocity (CBVV) are important variables that impact the overall climate in a region as they influence the formulation, longevity, and evolution of clouds. Retrieval of both parameters have long used ground instrumentation (e.g., Doppler lidar (DL), ground base radar); however, retrieving CBH from satellites is particularly challenging given that space-based instruments only observe cloud tops. In this manuscript, CBH is retrieved using a multi-linear regression equation, while CBVV used a random forests model. Both retrievals combine satellite and numerical weather prediction data. The satellite data used are the Visible Infrared Imaging Radiometer Suite imagery, while measurements of CBH and CBVV include DL and radiosonde data at the Southern Great Plains (SGP) Atmospheric Radiation Measurement observatory. Data from 83 summer days (May-August) in 2018–2021 featuring cumulus clouds forced by solar heating were examined and used to train the models, with years 2022–2023 used for validation. Various spatial domains were defined with one large (2.4° longitude by 2.0° latitude) SGP domain being split into smaller sections (smallest being 0.99° and 0.61° longitude and latitude respectably). CBH and CBVV values obtained from the DL as compared to the models show root mean square errors between 150 and 200 m, with CBVV values between 0.45 and 1 ms -1 . Finally, it was found that the CBH formulation performs well over all domains, while the CBVV retrievals become less accurate due to more turbulence being introduced into the observations as the number of DL stations decreases in the smaller domains.
The Ice Cryo-Encapsulation Balloon (ICEBall) field campaign was designed to sample the ice crystals that compose high-altitude cirrus with a passive device. The campaign made use of a new instrument, ICEBall, which is a balloon-borne ice crystal sampling system. The ice crystal sounding system is capable of measuring ice crystal concentration, temperature, atmospheric pressure, ice crystal habit, aerosol particle morphology, and residual composition. The 3-kg instrument is carried upwards at 5 m s-1 by a high-altitude balloon. The instrument can be cut down from the balloon at any altitude up to 20 km, and the apparatus returns to the surface by parachute. Basic measurements such as temperature and pressure are recorded onboard, and high-frequency Global Positioning System (GPS) records altitude and latitude/longitude. Ice crystal concentrations are measured through the use of a high-resolution video camera mounted on the device. Ice crystals are collected through an open aperture leading to insulated collection chambers cooled with dry ice. Upon exiting the top of the cloud system, the chamber aperture is closed, and the ~1 mm3 sample cell is magnetically sealed and isolated at -78 °C, ensuring that ice particles do not sublimate or grow after collection. Once the crystals are returned to the surface, they are double-sealed and immersed at liquid nitrogen temperature in “dry-cryo shippers” before being transported back to the laboratory. Dr. Magee’s laboratory at The College of New Jersey contains a cryo-stage scanning electron microscope (SEM), which was used to interrogate the crystals and aerosol particles. The main purpose of this pilot field campaign was to provide an unprecedented level of detail on the crystal habits and ice surface complexity in mid-latitude cirrus, which may help resolve issues associated with habit identification and classification in cirrus. The ICEBall campaign was originally scheduled to run from March 28 to April 18 of 2021 at the U.S. Department of Energy Atmospheric Radiation Measurement (ARM) Southern Great Plains observatory. The COVID-19 pandemic intervened and caused us to shift the dates of the experiment to October 16-November 6 of 2021. This period is also climatologically favorable for cirrus. The approximately six-month gap between our original field campaign dates and the actual dates afforded us the opportunity to build two new ICEBall payload instruments. These instruments were tested during an August 2021 trip to The College of New Jersey. During this field testing phase, we decided to launch the ICEBall payload upstream from the ARM SGP site with the goal of landing in the vicinity of the site. Our goal was to sample the ice crystals before the cirrus were advected over the remote-sensing instruments at the SGP site. The team assembled for the field campaign consisted of the Principle Investigator (PI) and Co-Principle Investigator (Co-PI) (Drs. Harrington and Magee), The Pennsylvania State University research scientist Dr. Alfred Moyle, and two graduate students (Ms. Marley Majetic and Gwenore Pokrifka). The team operated out of a house rented in Enid, Oklahoma. We successfully sampled seven cirrus cloud systems during the three-week field campaign (October 21, 23-26, 31, and November 1). This was a much higher success rate than either of the PIs anticipated (our goal was closer to sampling three or four cases). The balloon was typically launched from oil pads or farm fields northwest of Enid and the payload was typically retrieved somewhat north of the SGP site. We never landed directly at the SGP site, and so did not need regular access to the SGP facilities. Our greatest concern going into the field campaign was the longer-term storage of crystals in the -196°C cryo dry-shipper dewars and the subsequent transport across the country. We had tested storage and transport prior to the field campaign, but we had never stored crystals for a few weeks nor had we transported the dewars over long distances. To our great relief, the storage and transport worked flawlessly and we were able to image a large number of crystals from six of the seven cases. Working with the staff at the ARM SGP office was excellent. They not only helped us find the sources we needed for helium, liquid nitrogen, and other materials, but also helped with contacts within the Federal Aviation Administration (FAA) and Vance Air Force Base. One goal of our field project was to tie the in situ measurements of ice crystal habits to the radar signatures derived from the Ka-band ARM Zenith-pointing Radar (KAZR). Unfortunately KAZR was down for the duration of our experiment. However, the Ka-band Scanning ARM Cloud Radar (KASACR) was put into vertically pointing mode during the ICEBall campaign and those data, along with Doppler lidar measurements, have proved very useful.
Optimizing traffic control systems at traffic intersections can reduce the network-wide fuel consumption, as well as emissions of conventional fuel-powered vehicles. While traffic signals have been controlled based on predetermined schedules, various adaptive signal control systems have recently been developed using advanced sensors such as cameras, radars, and LiDARs. Among these sensors, cameras can provide a cost-effective way to determine the number, location, type, and speed of the vehicles for better-informed decision-making at traffic intersections. In this research, a new approach for accurately determining vehicle locations near traffic intersections using a single camera is presented. For that purpose, a well-known object detection algorithm called YOLO is used to determine vehicle locations in video images captured by a traffic camera. YOLO draws a bounding box around each detected vehicle, and the vehicle location in the image coordinates is converted to the world coordinates using camera calibration data. During this process, a significant error between the center of a vehicle’s bounding box and the real center of the vehicle in the world coordinates is generated due to the angled view of the vehicles by a camera installed on a traffic light pole. As a means of mitigating this vehicle localization error, two different types of regression models are trained and applied to the centers of the bounding boxes of the camera-detected vehicles. The accuracy of the proposed approach is validated using both static camera images and live-streamed traffic video. Based on the improved vehicle localization, it is expected that more accurate traffic signal control can be made to improve the overall network-wide energy efficiency and traffic flow at traffic intersections.
The Characterization of Orography-Influenced Riming and Secondary Ice Production and Their Effects on Precipitation Rates Using Radar Polarimetry and Doppler Spectra (CORSIPP) project was conducted to help improve the understanding of precipitation formation in orographically influenced terrain. Special focus is put on the two processes of riming and secondary ice production and their external drivers. Two instruments, a polarimetric W-band simultaneous transmission simultaneous reception (STSR) Doppler cloud radar manufactured by Radiometer Physics GmbH (RPG, instrument type RPG-FMCW-94-DP), from now on named LIMRAD94, and the video in situ snowfall sensor (VISSS), were deployed at the U. S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility’s Surface Atmosphere Integrated Field Laboratory (SAIL) site in Gothic, Colorado between November 2022 and June 2023 during the second SAIL winter. Note that the exact dates of data availability differ between the instruments. Both instruments arrived at Gothic on November 2, 2022, 09:20 local time. VISSS, described by Maahn et al., is equipped with two camera systems with telecentric lenses. The two cameras are at a 90° angle to each other. This configuration allows for size-independent measurements by capturing images of hydrometeors from two sides at a high frame rate of 250 Hz. With a minimum detection size of 200 μm, VISSS provides valuable insights into particle size, number, shape, complexity, and fall velocity. The VISSS was deployed on the grassland next to the ARM facility with the amazing help of the ARM employees on site. The setup started on November 2, 2022, and was finished on November 5, 2022, without major problems. VISSS measurements were started on November 6, 2022. LIMRAD94 was installed on a scaffolding platform near Orehouse (Gothic) on November 9, 2022, with the great help of RMBL staff. LIMRAD94 was mounted on a cold temperature scanner prototype. After a short test of the setup on November 9, 2022, the digital control of the scanner elevation stopped working for (at that time) unknown reasons. All attempts to resolve the problem failed. This malfunction made it impossible to operate LIMRAD94 in scanning mode. The scanner was then manually moved to zenith pointing mode and between November 10 and November 15, 2022, vertical observations for polarimetric calibration were performed. On November 15, 2022, after the polarimetric calibration was applied, the scanner was manually moved to 40° elevation with azimuthal view towards the Ka-band ARM Zenith Radar (KAZR) and measurements were continued at constant elevation. Investigation of the scanner malfunction on February 6, 2023, by Benn Schmatz revealed a disengagement between the cogwheel of the elevation motor and the cogwheel moving the scanner in elevation. This mechanical issue was temporarily solved by re-engaging the cogwheels. This made the scanner operational again for about four weeks, until mechanical force disengaged the cogwheels again on March 15, 2023. This repeated scanner failure remained undetected for about three weeks until April 8, 2023; during this time the scanner was stuck at 72° elevation. However, the radar software continued to produce data files falsely indicating that the scanner was still operational. After the scanner failure was noticed, scanning was stopped again, and we returned to constant elevation measurements. On May 15, 2023, the cogwheels of the elevation motor were secured with additional screws sent by the manufacturer. At some point in May, the cogwheels of the azimuth motor were also disengaged by mechanical force, which still allowed for range height indicator (RHI) but no plan position indicator (PPI) scans in the last weeks of the campaign. The azimuth motor was repaired in Germany after the end of the campaign. Throughout the campaign, RMBL and ARM staff kept the radar and the VISSS free of snow.
The loss of hydrological connectivity and fragmentation of natural wetlands is a widespread driver of wetland degradation. Understanding where and how natural connectivity is impaired is essential for managing, protecting and remediating these ecosystems. Wetland Interferometric Synthetic Aperture Radar (Wetland InSAR) can provide information on surface flow orientation in wetlands at a high spatial resolution, which can be used for barrier detection. However, the broad application of this approach is constrained by the labour-intensive manual delineation of barriers based on mapped water levels. This study presents the first deep learning-based methodology for the automated detection of hydrological barriers. We trained a deep convolutional network to segment edge features of hydrological barriers in 25 image pairs captured by ALOS PALSAR-1 L-Band InSAR between 2006 and 2011. The training dataset consists of manually labelled and delineated barriers showing abrupt changes in water surface elevation and wrapped interferograms with high coherence. We tested this method across three wetland sites: the Everglades and southern Louisiana wetlands (United States) and the Cienaga de Zapata (Cuba). Across these sites, the convolutional network detected hydrological barriers with up to 84% accuracy. The model performed particularly well for linear hydrological barriers such as roads, dikes, and channels. Notably, some barriers impede flow only seasonally, appearing during low water levels and disappearing when water levels rise. Our automated approach to detecting and assessing wetland hydrologic connectivity can be applied more broadly to support the effective management of fragmented wetland ecosystems.
When characterizing facilities, advanced autonomous systems are safe, efficient, and cost-effective tools, which can safely deploy state-of-the-art instrumentation without exposing workers to radiation risks. One main focus of the research is the visual mapping of the environment.This paper presents a framework for the mapping aspect that utilizes lidar and SLAM technologies coupled with a monocular camera to create a point cloud of the environment. Upon completion, the present research work aims to provide an autonomous mobile robot the capability to localize itself and aid the user with visualizing the radiation data. Challenges: C++ node needs to properly synchronize image and point cloud data. 3D lidar has resolution of ± 3 cm. Proper camera calibration needed. Transforms need to be precise for proper alignment of image and point-cloud. Results: Voxelated point clouds. Accurate colors from calibrated cameras including details smaller than lidar resolution. Developed Robotics Operating System (ROS) package for ease of transfer to other robot platforms.
This package contains geophysics datasets generated during the simulated ecosystem-flooding experiment – TEMPEST (Terrestrial Ecosystem Manipulation to Probe the Effects of Storm Treatment). These geophysics data consist of Electrical Resistivity Imaging (ERI) and Induced Polarization (IP) datasets collected to estimate the soil moisture and salinity response to the simulated coastal flooding experiment. In addition to using geophysics datasets to estimate soil moisture and salinity response, petrophysical relationship between the measured resistivity and moisture content and salinity using the multisalinity. This package consists of two folders: “MultiSalinity Experiment” folder and “TEMPEST Experiment and petrophysical conversion” folders. The “MultiSalinity Experiment” folder contains the datasets generated from the multisalinity experiment used to develop the petrophysical reslationship. The “TEMPEST Experiment and petrophysical conversion” folder contains ERI, IP, Ground Penetrating Radar (GPR) and Electromagnetic Induction (EMI) datasets collected during the TEMPEST experiment. This study shows the ability to used geophysical datasets in estimating moisture content and salinity at scale will be useful in calibrating Earth System Models.
Abstract Subsidence induced by groundwater depletion is a grave problem in many regions around the world, leading to a permanent loss of groundwater storage within an aquifer and even producing structural damage at the Earth’s surface. California’s Tulare Basin is no exception, experiencing about a meter of subsidence between 2015 and 2020. However, understanding the relationship between changes in groundwater volumes and ground deformation has proven difficult. We employ surface displacement measurements from Interferometric Synthetic Aperture Radar (InSAR) and gravimetric estimates of terrestrial water storage from the Gravity Recovery and Climate Experiment (GRACE) satellite pair to characterize the hydrological dynamics within the Tulare basin. The removal of the long-term aquifer compaction from the InSAR time series reveals coherent short-term variations that correlate with hydrological features. For example, in the winter of 2018–2019 uplift is observed at the confluence of several rivers and streams that drain into the southeastern edge of the basin. These observations, combined with estimates of mass changes obtained from the orbiting GRACE satellites, form the basis for imaging the monthly spatial variations in water volumes. This approach facilitates the quick and effective synthesis of InSAR and gravimetric datasets and will aid efforts to improve our understanding and management of groundwater resources around the world.
The purpose of the husky A200 ground robot is to autonomously navigate through the places where it is very hazardous for human beings to reach and operate, like nuclear power plants, chemical industries. The aim is to navigate the ground robot autonomously with an Arm mounted on the robot along with the different sensors as camera, and Lidar. The autonomous motion of the robot is controlled by the controller which uses path planner for trajectory generation of the robot. The mission planner uses the current position of the husky A200, given the way points of the initial and the destination it would extract a best possible route based on the current events provided using GMapping. The global reference frame is used for planning the way points. Creating the appropriate path and the actions required to follow the path are given by the motion planner. The motion planner depends on the active sensor data such as obstacles, lanes, based on the sensor data feasible path is generated. Feasibility of the path is determined by the dynamics of the husky and a series of points generated with certain velocity and acceleration profile. The controller adjusts the lateral, longitudinal and yaw motion of the husky to command the behaviors. The kinematic model is developed for kinematic motion of the husky and the dynamic model is developed for transient and steady state characteristics. The images and other type of data captured by the camera are processed through the computational framework used to build machine learning models. TensorFlow will be used for deep learning and to identify and classify different objects around the husky. (authors)
Quantum sensing promises to revolutionize sensing applications by employing quantum states of light or matter as sensing probes. Photons are the clear choice as quantum probes for remote sensing because they can travel to and interact with a distant target. Existing schemes are mainly based on the quantum illumination framework, which requires quantum memory to store a single photon of an initially entangled pair until its twin reflects off a target and returns for final correlation measurements. Existing demonstrations are limited to tabletop experiments, and expanding the sensing range faces various roadblocks, including long-time quantum storage and photon loss and noise when transmitting quantum signals over long distances. We propose a novel quantum sensing framework that addresses these challenges using quantum frequency combs with path identity for remote sensing of signatures (“qCOMBPASS”). The combination of one key quantum phenomenon and two quantum resources—namely, quantum-induced coherence by path identity, quantum frequency combs, and two-mode squeezed light—allows for quantum remote sensing without requiring quantum memory. The proposed scheme is akin to a quantum radar based on entangled frequency-comb pairs that uses path identity to detect, range, or sense a remote target of interest by measuring pulses of one comb in the pair that never traveled to the target but that contains target information “teleported” by quantum-induced coherence by path identity from the other comb in the pair that traveled to the target but is not detected. We develop the basic qCOMBPASS theory, analyze the properties of the qCOMBPASS transceiver, and introduce the qCOMBPASS equation—a quantum analog of the well-known LIDAR equation in classical remote sensing. We also describe an experimental scheme to demonstrate the concept using two-mode squeezed quantum combs. qCOMBPASS can strongly impact various applications in remote quantum sensing, imaging, metrology, and communications. These applications include detection and ranging of low-reflectivity objects, measurement of small displacements of a remote target with precision beyond the standard quantum limit (SQL), standoff hyperspectral quantum imaging, discreet surveillance from space with low detection probability (detect without being detected), very-long-baseline interferometry, quantum Doppler sensing, quantum clock synchronization, and networks of distributed quantum sensors. Published by the American Physical Society 2024
An adjoint-based conjugate gradient algorithm provides an efficient means for imaging sources of deformation within the Earth, such as volume stresses associated with fluid flow in aquifers and reservoirs. For time intervals over which the overburden deforms elastically, one can calculate the gradient elements for a single model update using just two numerical simulations. The first is a forward run that is used to compute the residuals associated with the given iteration. The second simulation is to evaluate the application of the adjoint operator to the residuals. In this adjoint calculation, the residual displacements are applied as sources at the measurement locations, driving the deformation in the simulation. The volume stress on the source grid blocks, in response to the residual displacements, provide the gradient components. We apply this technique to satellite-based interferometric synthetic aperture radar (InSAR) line-of-sight displacements that were observed over an oil reservoir in California’s Central Valley. Furthermore, we find that the adjoint-based gradient estimates, requiring 18 CPU seconds, agree with conventional numerical calculations that take over 3700 CPU seconds to compute. Conjugate gradient algorithms utilizing the conventional approach and adjoint-based gradient computations give roughly the same reductions in misfit and similar final estimates of reservoir volume change.
A robust and computationally efficient object tracking algorithm is developed by incorporating various tracking techniques. Physical properties of the objects, such as brightness temperature or reflectivity, are not considered. Therefore, the algorithm is adaptable for tracking convection-like features in simulated data and remotely sensed two-dimensional images. In this algorithm, a first guess of the motion, estimated using the Fourier phase shift, is used to predict the candidates for matching. A disparity score is computed for each target–candidate pair. The disparity also incorporates overlapping criteria in the case of large objects. Then the Hungarian method is applied to identify the best pairs by minimizing the global disparity. The high-disparity pairs are unmatched, and their target and candidate are declared expired and newly initiated objects, respectively. They are tested for merger and split on the basis of their size and overlap with the other objects. The sensitivity of track duration is shown for different disparity and size thresholds. The report highlights the algorithm’s ability to study convective life cycles using radar and simulated data over Darwin, Australia. The algorithm skillfully tracks individual convective cells (a few pixels in size) and large convective systems. The duration of tracks and cell size are found to be lognormally distributed over Darwin. The evolution of size and precipitation types of isolated convective cells is presented in the Lagrangian perspective. This algorithm is part of a vision for a modular platform [viz., TINT is not TITAN (TINT) and Tracking and Object-Based Analysis of Clouds (tobac)] that will evolve into a sustainable choice to analyze atmospheric features.
Space-based and airplane-based synthetic aperture RADAR (SAR) can monitor ground height using interferometric SAR (InSAR) collections. However, fielding the airplane-based SAR is expensive and coordinating the frequency and timing of ground experiments with space-based SAR is challenging. This research explored the possibility of using a small, mobile unmanned aerial vehicle- base (UAV) SAR to see if it could provide a quick and inexpensive InSAR option for the Source Physics Experiment (SPE) Phase III project. Firstly, a local feasibility collection using a UAV-based SAR showed that InSAR products and height measurements were possible, but that in-scene fiducials were needed to assist in digital elevation model (DEM) construction. Secondly, an InSAR collection was planned and executed over the SPE Phase III site using the same platform configuration. We found that the image formation by the SAR manufacturer creates discontinuities, and that noise impacted the generation and accuracy of height maps. These processing artifacts need to be overcome to generate an accurate height map.
Since 2015, NASA’s Arctic Boreal Vulnerability Experiment (ABoVE) has investigated how climate change impacts the vulnerability and/or resilience of the permafrost-affected ecosystems of Alaska and northwestern Canada. ABoVE conducted extensive surveys with the Next Generation Airborne Visible/Infrared Imaging Spectrometer (AVIRIS-NG) during 2017, 2018, 2019, and 2022 and with AVIRIS-3 in 2023 to characterize tundra, taiga, peatlands, and wetlands in unprecedented detail. The ABoVE AVIRIS dataset comprises ~1700 individual flight lines covering ~120,000 km 2 with nominal 5 m × 5 m spatial resolution. Data include individual transects to capture important gradients like the tundra-taiga ecotone and maps of up to 10,000 km 2 for key study areas like the Mackenzie Delta. The ABoVE AVIRIS surveys enable diverse ecosystem science, provide crucial benchmark data for validating retrievals from the PACE, PRISMA, and EnMAP satellite sensors and help prepare for the SBG and CHIME missions. This paper guides interested researchers to fully explore the ABoVE AVIRIS spectral imagery and complements our guide to the ABoVE airborne synthetic aperture radar surveys.
Cloud cover plays a pivotal role in modulating the Earth's energy budget through the reflection of incoming solar radiation and the trapping of outgoing longwave radiation. Ground-based all-sky imagers offer an objective assessment of cloud cover that can be used to estimate solar irradiance, classify cloud types, track cloud movement, and serve as a benchmark 10 for the evaluation of satellite and reanalysis data products. The Atmospheric Radiation Measurement (ARM) user facility has utilized all-sky imagers for more than 25 years to monitor cloud cover and augment its comprehensive suite of atmospheric measurements. Following the retirement of its Total Sky Imager (TSI), ARM recently deployed the TSI’s successor, the All Sky Imager (ASI-16 camera systems). To provide a smooth transition and continuity to the vast amount of knowledge gathered by the TSI over the years, while addressing typical deployment issues, we developed a novel pixel segmentation algorithm, 15 the ASI Sky Cover (ASISKYCOVER). ASISKYCOVER builds on the different strengths and properties of the TSI processing algorithm while integrating machine learning techniques, ensuring data validity and accuracy across diverse atmospheric conditions. It enhances cloud cover characterization with new features such as artifact detection and uncertainty quantification. ASISKYCOVER also includes cloud cover estimates for near-zenith (narrow field-of-view) and reduces susceptibility to false detections. This study introduces ASISKYCOVER, details its algorithm framework, and demonstrates its capabilities using a 20 year-long dataset from the ARM Southern Great Plains site. Comparisons with co-located TSI data and other ARM measurements, such as zenith-pointing radars and lidars, are presented, underscoring the ASISKYCOVER’s potential to improve cloud cover analyses and data evaluation efforts, as well as to be integrated into higher-level data products that synergize instrument suites to generate new and insightful information
The Long Island Solar Farm (LISF) is a 32-megawatt solar photovoltaic power plant built through a collaboration including BP Solar, the Long Island Power Authority (LIPA), and the U.S. Department of Energy (DOE). The LISF, located on the Brookhaven National Laboratory site, began delivering power to the LIPA grid in November 2011, and is currently one of the largest solar photovoltaic power plants in the eastern United States. It is generating enough renewable energy to power approximately 4,500 homes and is helping New York State meet its clean energy and carbon reduction goals. Brookhaven National Laboratory (BN)L has the LISF instrumented and is capturing solar insolation and power data that can be used for research purposes. Additional information on LISF is available here: https://www.bnl.gov/lisf/. A network of nine high-definition (HD cameras) and 32 pyranometers are deployed within the LISF for the purpose of monitoring the location and characteristics of clouds and available global horizontal irradiance at the surface across the region. Information collected by this network every 30 s is currently used in BNL’s solar NowCasting algorithm, which forecasts near-term solar energy availability accounting for the behavior of clouds. The most important parameters for forecasting the near-term solar energy availability are accurate estimations of their horizontal extend, horizontal motion, and cloud base height. Currently, images from nearly located cameras are used to estimate the cloud base height. In order to evaluate the potential of this method for estimating the cloud base height, we decided to deploy a Vaisala ceilometer at the LISF.
Automated methods for the detection and tracking of deep convective clouds in geostationary satellite imagery have a vital role in both the forecasting of severe storms and research into their behaviour. Studying the interactions and feedbacks between multiple deep convective clouds (DCC), however, poses a challenge for existing algorithms due to the necessary compromise between false detection and missed detection errors. We utilise an optical flow method to determine the motion of deep convective clouds in GOES-16 ABI imagery in order to construct a semi-Lagrangian framework for the motion of the cloud field, independently of the detection and tracking of cloud objects. The semi-Lagrangian framework allows severe storms to be simultaneously detected and tracked in both spatial and temporal dimensions. For the purpose of this framework we have developed a novel Lagrangian convolution method and a number of novel implementations of morphological image operations that account for the motion of observed objects. These novel methods allow the accurate extension of computer vision techniques to the temporal domain for moving objects such as DCCs. By combining this framework with existing methods for detecting DCCs (including detection of growing cores through cloud top cooling and detection of anvil clouds using brightness temperature), we show that the novel framework enables reductions in errors due to both false and missed detections compared to any of the individual methods, reducing the need to compromise when compared with existing frameworks. The novel framework enables the continuous tracking of anvil clouds associated with detected deep convection after convective activity has stopped, enabling the study of the entire life cycle of DCCs and their associated anvils. Furthermore, we expect this framework to be applicable to a wide range of cases including the detection and tracking of low-level clouds and other atmospheric phenomena. In addition, this framework may be used to combine observations from multiple sources, including satellite observations, weather radar and reanalysis model data.