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NASA NTRSDate not supplied

Energy-Optimized Path Planning for Uas in Varying Winds Via Reinforcement Learning

In this paper we propose a reinforcement learning (RL) algorithm for path planning of Unmanned Aviation Vehicles (UAVs) under varying wind conditions. Solutions to UAV path planning problems are becoming increasingly necessary as autonomous UAVs continue to enter commercial and government spaces. Path-planning is inherently challenging, as UAVs need to account for dynamically changing flying conditions such as weather, obstacle or no-fly zones, degraded vehicle health, and off-nominal battery power consumption. Machine learning methods such as reinforcement learning (RL) have the potential to revolutionize how vehicles navigate in such uncertain environments. In this study, we compute UAV trajectories from a pre-determined starting position to a target cell within a 7X7 grid environment by optimizing parameters for mission assurance and safety limits in addition to the energy consumption and operation time. The UAV navigates the grid by taking actions to move in any of the eight cardinal and inter-cardinal directions, under constant thrust profile. The resultant UAV state is sampled from a probability distribution which accounts for the UAV’s action, local wind velocity, and the presence of obstacles or boundaries. As the unmanned airspace gets more complex due to multiple vehicles and environmental uncertainties, trade-offs between energy consumption, operation time, risk tolerance, and mission assurance need to be made. Our Markov Decision Process (MDP) environment model can capture any combination of these in the optimization objective, making it novel compared to other work in the field.

trajectory planning↗

NASA NTRSDate not supplied

Development of the BOLT II Roughness Experiment for Flight

BOLT II is a sounding rocket research project with the goal of studying hypersonic boundary layer transition and turbulence. The BOLT II research vehicle is based on a three-dimensional geometry (a slightly longer version of BOLT) with concave surfaces and swept leading edges that provides two separate and distinct, also redundant, flow paths for conducting measurements. One side of BOLT II is dedicated to smooth surface transition and turbulence, to better study the natural instability processes, while the other has been assigned to study forced transition and turbulence using discrete roughness trips. The present paper is intended to document the primary drivers and decisions made leading up to finalizing the roughness side experiment for the BOLT II flight.

Hypersonic↗

NASA NTRSDate not supplied

Development of the BOLT II Roughness Experiment for Flight

hypersonic↗

NASA NTRS2010

World, We Have Problems: Simulation for Large Complex, Risky Projects, and Events

Prior to a spacewalk during the NASA STS/129 mission in November 2009, Columbia Broadcasting System (CBS) correspondent William Harwood reported astronauts, "were awakened again", as they had been the day previously. Fearing something not properly connected was causing a leak, the crew, both on the ground and in space, stopped and checked everything. The alarm proved false. The crew did complete its work ahead of schedule, but the incident reminds us that correctly connecting hundreds and thousands of entities, subsystems and systems, finding leaks, loosening stuck valves, and adding replacements to very large complex systems over time does not occur magically. Everywhere major projects present similar pressures. Lives are at - risk. Responsibility is heavy. Large natural and human-created disasters introduce parallel difficulties as people work across boundaries their countries, disciplines, languages, and cultures with known immediate dangers as well as the unexpected. NASA has long accepted that when humans have to go where humans cannot go that simulation is the sole solution. The Agency uses simulation to achieve consensus, reduce ambiguity and uncertainty, understand problems, make decisions, support design, do planning and troubleshooting, as well as for operations, training, testing, and evaluation. Simulation is at the heart of all such complex systems, products, projects, programs, and events. Difficult, hazardous short and, especially, long-term activities have a persistent need for simulation from the first insight into a possibly workable idea or answer until the final report perhaps beyond our lifetime is put in the archive. With simulation we create a common mental model, try-out breakdowns of machinery or teamwork, and find opportunity for improvement. Lifecycle simulation proves to be increasingly important as risks and consequences intensify. Across the world, disasters are increasing. We anticipate more of them, as the results of global warming prove more and more ominous-glaciers melting in Bolivia, floods in Saudi Arabia, the Maldives sinking and salt rising along the Nile. Fear grows about potential asteroid crashes and nightly television images raise awareness of victims of floods, hurricanes, cyclones and typhoons, fire, tornado, tsunami, bombings, landslides, and cross-boundary criminality. The Red Cross says that disasters impact 250 million people each year. That means that 700,000 people are having a very bad day today. Modeling and simulation is and must be part of the solution.

Elfrey, Priscilla↗

NASA NTRS1976

Wheat signature modeling and analysis for improved training statistics

The author has identified the following significant results. The spectral, spatial, and temporal characteristics of wheat and other signatures in LANDSAT multispectral scanner data were examined through empirical analysis and simulation. Irrigation patterns varied widely within Kansas; 88 percent of wheat acreage in Finney was irrigated and 24 percent in Morton, as opposed to less than 3 percent for western 2/3's of the State. The irrigation practice was definitely correlated with the observed spectral response; wheat variety differences produced observable spectral differences due to leaf coloration and different dates of maturation. Between-field differences were generally greater than within-field differences, and boundary pixels produced spectral features distinct from those within field centers. Multiclass boundary pixels contributed much of the observed bias in proportion estimates. The variability between signatures obtained by different draws of training data decreased as the sample size became larger; also, the resulting signatures became more robust and the particular decision threshold value became less important.

Nalepka, R. F.↗

NASA NTRS1996

Optimal Trajectories for the Helicopter in One-Engine-Inoperative Terminal-Area Operations

This paper presents a summary of a series of recent analytical studies conducted to investigate One-Engine-Inoperative (OEI) optimal control strategies and the associated optimal trajectories for a twin engine helicopter in Category-A terminal-area operations. These studies also examine the associated heliport size requirements and the maximum gross weight capability of the helicopter. Using an eight states, two controls, augmented point-mass model representative of the study helicopter, Continued TakeOff (CTO), Rejected TakeOff (RTO), Balked Landing (BL), and Continued Landing (CL) are investigated for both Vertical-TakeOff-and-Landing (VTOL) and Short-TakeOff-and-Landing (STOL) terminal-area operations. The formulation of the nonlinear optimal control problems with considerations for realistic constraints, solution methods for the two-point boundary-value problem, a new real-time generation method for the optimal OEI trajectories, and the main results of this series of trajectory optimization studies are presented. In particular, a new balanced- weight concept for determining the takeoff decision point for VTOL Category-A operations is proposed, extending the balanced-field length concept used for STOL operations.

Zhao, Yiyuan↗

DOE OSTI2023

Typologies of actionable climate information and its use

Developing actionable climate information and integrating it into decision-making are two crucial elements for promoting effective societal responses to climate change. However, what constitutes actionable climate information, and how it is used, varies based on the actors, systems, and scales that are relevant to specific decisions. Yet, the terms ‘actionable climate information’ or ‘use of climate information’ are used abstractly. There is a lack of holistic understanding of the various types of information that can be deemed as usable by different users, and the different ways in which they may be used in decision-making. Typologies or generalizable categorizations can help both knowledge producers and users to better envision the entire landscape of climate information and its uses and can help to reduce the time and cost of actionable knowledge production. Through systematic coding and analysis of ~ 4 years of co-production engagements between climate scientists and resource managers, this paper presents empirically derived typologies of actionable climate information and its use, and explores whether certain uses are better informed by specific types of climate information. These typologies provide a valuable starting point for climate information producers, users, and boundary spanners working on climate-informed resource management, to reduce some of the time-intensive elements of the process.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2026

Robust Explanations using Diverse Adversarially Trained Ensembles, Multi-Modal Contrastive Learning, and Attribution-based Confidence Metrics

The primary objective of this project is to strengthen the trustworthiness of AI systems by designing algorithms that make their internal decision-making processes more understandable to human users. This involves creating clear, interpretable explanations for AI decisions and developing metrics to assess these explanations' validity and reliability. Significant progress has been achieved through (i) developing symbolic explanations, (ii) generating meaningful interpretive insights, (iii) establishing accuracy and confidence metrics, and (iv) devising methods to evaluate the knowledge boundaries of AI models. To date, the research findings have been shared in peer-reviewed publications, with accompanying scientific and technical information (STI) detailed below.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS1997

Optimal Trajectories for the Helicopter in One-Engine-Inoperative Terminal-Area Operations

This paper presents a summary of a series of recent analytical studies conducted to investigate one-engine-inoperative (OEI) optimal control strategies and the associated optimal trajectories for a twin engine helicopter in Category-A terminal-area operations. These studies also examine the associated heliport size requirements and the maximum gross weight capability of the helicopter. Using an eight states, two controls, augmented point-mass model representative of the study helicopter, continued takeoff (CTO), rejected takeoff (RTO), balked landing (BL), and continued landing (CL) are investigated for both vertical-takeoff-and-landing (VTOL) and short-takeoff-and-landing (STOL) terminal-area operations. The formulation of the non-linear optimal control problems with considerations for realistic constraints, solution methods for the two-point boundary-value problem, a new real-time generation method for the optimal OEI trajectories, and the main results of this series of trajector optimization studies are presented. In particular, a new balanced-weight concept for determining the takeoff decision point for VTOL Category-A operations is proposed, extending the balanced-field length concept used for STOL operations.

Chen, Robert T. N.↗

NASA NTRS2000

FACET: Future ATM Concepts Evaluation Tool

FACET (Future ATM Concepts Evaluation Tool) is an Air Traffic Management research tool being developed at the NASA Ames Research Center. This paper describes the design, architecture and functionalities of FACET. The purpose of FACET is to provide E simulation environment for exploration, development and evaluation of advanced ATM concepts. Examples of these concepts include new ATM paradigms such as Distributed Air-Ground Traffic Management, airspace redesign and new Decision Support Tools (DSTs) for controllers working within the operational procedures of the existing air traffic control system. FACET is currently capable of modeling system-wide en route airspace operations over the contiguous United States. Airspace models (e.g., Center/sector boundaries, airways, locations of navigation aids and airports) are available from databases. A core capability of FACET is the modeling of aircraft trajectories. Using round-earth kinematic equations, aircraft can be flown along flight plan routes or great circle routes as they climb, cruise and descend according to their individual aircraft-type performance models. Performance parameters (e.g., climb/descent rates and speeds, cruise speeds) are obtained from data table lookups. Heading, airspeed and altitude-rate dynamics are also modeled. Additional functionalities will be added as necessary for specific applications. FACET software is written in Java and C programming languages. It is platform-independent, and can be run on a variety of computers. FACET has been designed with a modular software architecture to enable rapid integration of research prototype implementations of new ATM concepts. There are several advanced ATM concepts that are currently being implemented in FACET airborne separation assurance, dynamic density predictions, airspace redesign (re-sectorization), benefits of a controller DST for direct-routing, and the integration of commercial space transportation system operations into the U.S. National Airspace System (NAS).

Bilmoria, Karl D.↗

NASA NTRS2003

HEASARC Software Archive

(1) Chandra Archive: SAO has maintained the interfaces through which HEASARC gains access to the Chandra Data Archive. At HEASARC's request, we have implemented an anonymous ftp copy of a major part of the public archive and we keep that archive up-to- date. SAO has participated in the ADEC interoperability working group, establishing guidelines or interoperability standards and prototyping such interfaces. We have provided an NVO-based prototype interface, intending to serve the HEASARC-led NVO demo project. HEASARC's Astrobrowse interface was maintained and updated. In addition, we have participated in design discussions surrounding HEASARC's Caldb project. We have attended the HEASARC Users Group meeting and presented CDA status and developments. (2) Chandra CALDB: SA0 has maintained and expanded the Chandra CALDB by including four new data file types, defining the corresponding CALDB keyword/identification structures. We have provided CALDB upgrades for the public (CIAO) and for Standard Data Processing. Approximately 40 new files have been added to the CALDB in these version releases. There have been in the past year ten of these CALDB upgrades, each with unique index configurations. In addition, with the inputs from software, archive, and calibration scientists, as well as CIAO/SDP software developers, we have defined a generalized expansion of the existing CALDB interface and indexing structure. The purpose of this is to make the CALDB more generally applicable and useful in new and future missions that will be supported archivally by HEASARC. The generalized interface will identify additional configurational keywords and permit more extensive calibration parameter and boundary condition specifications for unique file selection. HEASARC scientists and developers from SAO and GSFC have become involved in this work, which is expected to produce a new interface for general use within the current year. (3) DS9: One of the decisions that came from last year's HEADCC meeting was to make the ds9 image display program the primary vehicle for displaying line graphics (as well as images). The first step required to make this possible was to enhance the line graphics capabilities of ds9. SAO therefore spent considerable effort upgrading ds9 to use Tcl 8.4 so that the BLT line graphics package could be built and imported into ds9 from source code, rather than from a pre-built (and generally outdated) shared library. This task, which is nearly complete, allows us to extend BLT as needed for the HEAD community. Following HEADCC discussion concerning archiving and the display of archived data, we extended ds9 to support full access to many astronomical Web-based archives sites, including HEASARC, MAST, CHANDRA, SKYVIEW, ADS, NED, SIMBAD, IRAS, NVRO, SAO TDC, and FIRST. Using ds9's new internal Web access capabilities, these archives can be accessed via their Web page. FITS images, plots, spectra, and journal abstracts can be referenced, down-loaded, and displayed directly and easily in ds9. For more information, see: http://hea-www.harvard.edu/saord/ds9. Also after the HEADCC discussion concerning region filtering, we extended the Funtools sample implementation of region filtering as described in: http://hea-www.harvard.edu/saord/funtools/regions.html. In particular, we added several new composite regions for event and image filtering, including elliptical and box annuli. We also extended the panda (Pie AND Annulus) region support to include box pandas and elliptical pandas. These new composite regions are especially useful in programs that need to count photons in each separate region using only a single pass through the data. Support for these new regions was added to ds9. In the same vein, we developed new region support for filtering images using simple FITS image masks, i.e. 8-bit or 16-bit FITS images where the value of a pixel is the region id number for that pixel. Other important enhancements to DS9 this year, include supporor multiple world coordinate systems, three dimensional event file binning, image smoothing, region groups and tags, the ability to save images in a number of image formats (such as JPEG, TIFF, PNG, FITS), improvements in support for integrating external analysis tools, and support for the virtual observatory. In particular, a full-featured web browser has been implemented within D S 9 . This provides support for full access to HEASARC archive sites such as SKYVIEW and W3BROWSE, in addition to other astronomical archives sites such as MAST, CHANDRA, ADS, NED, SIMBAD, IRAS, NVRO, SA0 TDC, and FIRST. From within DS9, the archives can be searched, and FITS images, plots, spectra, and journal abstracts can be referenced, downloaded and displayed The web browser provides the basis for the built-in help facility. All DS9 documentation, including the reference manual, FAQ, Know Features, and contact information is now available to the user without the need for external display applications. New versions of DS9 maybe downloaded and installed using this facility. Two important features used in the analysis of high energy astronomical data have been implemented in the past year. The first is support for binning photon event data in three dimensions. By binning the third dimension in time or energy, users are easily able to detect variable x-ray sources and identify other physical properties of their data. Second, a number of fast smoothing algorithms have been implemented in DS9, which allow users to smooth their data in real time. Algorithms for boxcar, tophat, and gaussian smoothing are supported.

White, Nicholas↗

NASA NTRS2021

Tracking Smoke from a Prescribed Fire and its Impacts on Local Air Quality using Temporally Resolved GOES-16 ABI Aerosol Optical Depth (AOD)

Aerosol optical depth (AOD) retrieved from the GOES-16 Advanced Baseline Imager (ABI) was used to track a smoke plume from a prescribed fire in northeastern Virginia on 8 March 2020. Weather and atmospheric conditions created a favorable environment to transport the plume through the Washington, D.C., and Baltimore, Maryland, metro areas in the afternoon and concentrate smoke near the surface, degrading air quality for several hours. ABI AOD with 5-min temporal resolution and 2-km spatial resolution definitively identified the timing and geographic extent of the plume during daylight hours. Comparison to AERONET AOD indicates that ABI AOD captured the relative change in AOD due to passage of the smoke, with a mean absolute error of 0.047. Ground-based measurements of fine particulate matter (PM2.5) confirm deteriorations in air quality coincident with the progression of the smoke. Ceilometer aerosol backscatter profiles verify plume transport timing and indicate that smoke aerosols were well mixed in a shallow boundary layer. This event illustrates the advantages of using multiple datasets to analyze the impacts of aerosols on ambient air quality. Given the quickly evolving nature of the event over several hours, ABI AOD provided information for the public and decision-makers that was not available from any other source, including polar-orbiting satellite sensors. This study suggests that PM2.5 concentrations estimated from ABI AOD can be used to fill in the gaps in nationwide regulatory PM2.5 monitor networks and may be a valuable addition to EPA’s PM2.5 NowCast of current air quality conditions.

satellite observations↗

DOE OSTI2024

Exploring ship track spreading rates with a physics-informed Langevin particle parameterization

Abstract. The rate at which aerosols spread from a point source injection, such as from a ship or other stationary pollution source, is critical for accurately representing subgrid plume spreading in a climate model. Such climate model results will guide future decisions regarding the feasibility and application of large-scale intentional marine cloud brightening (MCB). Prior modeling studies have shown that the rate at which ship plumes spread may be strongly dependent on meteorological conditions, such as precipitating versus non-precipitating boundary layers and shear. In this study, we apply a Lagrangian particle model (PM-ABL v1.0), governed by a Langevin stochastic differential equation, to create a simplified framework for predicting the rate of spreading from a ship-injected aerosol plume in sheared, precipitating, and non-precipitating boundary layers. The velocity and position of each stochastic particle is predicted with the acceleration of each particle being driven by the turbulent kinetic energy, dissipation rate, momentum variance, and mean wind. These inputs to the stochastic particle velocity equation are derived from high-fidelity large-eddy simulations (LES) equipped with a prognostic aerosol–cloud microphysics scheme (UW-SAM) to simulate an aerosol injection from a ship into a cloud-topped marine boundary layer. The resulting spreading rate from the reduced-order stochastic model is then compared to the spreading rate in the LES. The stochastic particle velocity representation is shown to reasonably reproduce spreading rates in sheared, precipitating, and non-precipitating cases using domain-averaged turbulent statistics from the LES.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2023

Marin County Wildfires Ii: Improving Fire Suppression Modeling to Inform Fire Prevention and Suppression Decisions in Marin County, Ca

A future of increased wildfires requires greater integration of spatial analysis and local knowledge of emergency responders. We examine the application of a Potential Operational Delineations (PODs) framework for strategic pre-fire planning in Marin County. PODs are spatial units for wildfire management that combine predictive modeling and local firefighter expertise to identify potential control locations as unit boundaries and assess the difficulty of suppression within units. Additionally, this project explores the integration of road networks and social vulnerability to assess environmental justice in evacuation safety. This project constitutes a novel application of the PODs framework as it integrates expertise from Marin County senior firefighters with a Fireline Location Model (FLM) to achieve POD definition and uses a Suppression Difficulty Score (SDS) to rank each POD. The FLM uses network analysis and hydrologic modeling to identify key roads and ridgelines as boundaries and combines them with expert knowledge, in the form of workshops, to construct PODs. Once identified, PODs are classified using SDS, which includes processed inputs such as LiDAR-derived aboveground biomass, ECOSTRESS Evaporative Stress Index, land use cover type from Sentinel-2 Imagery, and a digital elevation model. Environmental justice for evacuation safety incorporated three key road metrics such as connectivity, travel area, and exit capacity, the Social Vulnerability Index from the Center for Disease Control, and cell coverage to determine a final Evacuation Difficulty Score. Results indicate a strong link between road networks as primary POD boundaries, with ridgelines and waterways as secondary and tertiary locations. Specifically, we find 78.5% of expertise-identified POD boundaries align with FLM-determined boundaries. More validation is needed to support this process; however, initial results signal a feasible framework to integrate expertise and spatial analysis in local level strategic fire planning

Wildfire modeling↗

NASA NTRS1996

The Aggregate Representation of Terrestrial Land Covers Within Global Climate Models (GCM)

This project had four initial objectives: (1) to create a realistic coupled surface-atmosphere model to investigate the aggregate description of heterogeneous surfaces; (2) to develop a simple heuristic model of surface-atmosphere interactions; (3) using the above models, to test aggregation rules for a variety of realistic cover and meteorological conditions; and (4) to reconcile biosphere-atmosphere transfer scheme (BATS) land covers with those that can be recognized from space; Our progress in meeting these objectives can be summarized as follows. Objective 1: The first objective was achieved in the first year of the project by coupling the Biosphere-Atmosphere Transfer Scheme (BATS) with a proven two-dimensional model of the atmospheric boundary layer. The resulting model, BATS-ABL, is described in detail in a Masters thesis and reported in a paper in the Journal of Hydrology Objective 2: The potential value of the heuristic model was re-evaluated early in the project and a decision was made to focus subsequent research around modeling studies with the BATS-ABL model. The value of using such coupled surface-atmosphere models in this research area was further confirmed by the success of the Tucson Aggregation Workshop. Objective 3: There was excellent progress in using the BATS-ABL model to test aggregation rules for a variety of realistic covers. The foci of attention have been the site of the First International Satellite Land Surface Climatology Project Field Experiment (FIFE) in Kansas and one of the study sites of the Anglo-Brazilian Amazonian Climate Observational Study (ABRACOS) near the city of Manaus, Amazonas, Brazil. These two sites were selected because of the ready availability of relevant field data to validate and initiate the BATS-ABL model. The results of these tests are given in a Masters thesis, and reported in two papers. Objective 4: Progress far exceeded original expectations not only in reconciling BATS land covers with those that can be recognized from space, but also in then applying remotely-sensed land cover data to map aggregate values of BATS parameters for heterogeneous covers and interpreting these parameters in terms of surface-atmosphere exchanges.

Shuttleworth, W. James↗

DOE OSTI2022

Times (and the Grid) are A-Changin'

<span style="background-color: rgb(255, 255, 255); font-family: "Neue Plak", -apple-system, BlinkMacSystemFont, Roboto, "Helvetica Neue", Helvetica, Tahoma, Arial, sans-serif; font-size: 16px; color: rgb(111, 114, 135);">This webinar highlighted two datasets that provide forward-looking projections of electric grid GHG emissions for the United States. These data sets were created to help present-day analyses and decision-support tools incorporate what we know about the ongoing evolution of the U.S. electric grid. <span style="background-color: rgb(255, 255, 255); font-family: "Neue Plak", -apple-system, BlinkMacSystemFont, Roboto, "Helvetica Neue", Helvetica, Tahoma, Arial, sans-serif; font-size: 16px; color: rgb(111, 114, 135);">Additionally, the webinar compared these two databases to other data sources to summarize differences (i.e., attributional versus consequential emissions rates, age and source of underlying data, regionalization approach, and boundary conditions) and highlighted the value and need for expert guidance when an analyst or developer is choosing how to represent electric-sector GHG emissions. <span style="background-color: rgb(255, 255, 255); font-family: "Neue Plak", -apple-system, BlinkMacSystemFont, Roboto, "Helvetica Neue", Helvetica, Tahoma, Arial, sans-serif; font-size: 16px; color: rgb(111, 114, 135);">This webinar was intended to set the stage for ACLCA roundtable events to further discuss these issues.

Jamieson, Matthew↗

NASA NTRS1987

A conceptual framework for intelligent real-time information processing

By combining artificial intelligence concepts with the human information processing model of Rasmussen, a conceptual framework was developed for real time artificial intelligence systems which provides a foundation for system organization, control and validation. The approach is based on the description of system processing terms of an abstraction hierarchy of states of knowledge. The states of knowledge are organized along one dimension which corresponds to the extent to which the concepts are expressed in terms of the system inouts or in terms of the system response. Thus organized, the useful states form a generally triangular shape with the sensors and effectors forming the lower two vertices and the full evaluated set of courses of action the apex. Within the triangle boundaries are numerous processing paths which shortcut the detailed processing, by connecting incomplete levels of analysis to partially defined responses. Shortcuts at different levels of abstraction include reflexes, sensory motor control, rule based behavior, and satisficing. This approach was used in the design of a real time tactical decision aiding system, and in defining an intelligent aiding system for transport pilots.

Schudy, Robert↗

NASA NTRS1973

Utilizing remote sensing data for land use decisions for Indian lands in South Dakota.

Evaluation of photographic and thermal infrared imagery acquired at an altitude of 11,500 ft above ground level (in southwestern South Dakota) on Oct. 15, 1970, June 30, 1971, and Aug. 2, 1971, for use in mapping range sites and soils. A density slicing system was used to enhance film optical density differences associated with range sites and soils. The range site boundaries in native rangeland areas were found to be delineated best by a density slicing analysis of color infrared film obtained in August 1971. The range site maps produced by density slicing were superior to existing range inventory maps. The density slicing analysis of color infrared film from the August 1971 flight was best for locating soil boundaries in rangeland areas. To adequately map soils in rangeland areas, data based on density slicing used in conjunction with slope gradient information derived from stereoscopic analyses provided more detailed and accurate information than is presently available from range site and soil maps of the area.

Frazee, C. J.↗