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DOE OSTI2023

Biome-scale temperature sensitivity of ecosystem respiration revealed by atmospheric CO2 observations

Abstract The temperature sensitivity of ecosystem respiration regulates how the terrestrial carbon sink responds to a warming climate but has been difficult to constrain observationally beyond the plot scale. Here we use observations of atmospheric CO 2 concentrations from a network of towers together with carbon flux estimates from state-of-the-art terrestrial biosphere models to characterize the temperature sensitivity of ecosystem respiration, as represented by the Arrhenius activation energy, over various North American biomes. We infer activation energies of 0.43 eV for North America and 0.38 eV to 0.53 eV for major biomes therein, which are substantially below those reported for plot-scale studies (approximately 0.65 eV). This discrepancy suggests that sparse plot-scale observations do not capture the spatial-scale dependence and biome specificity of the temperature sensitivity. We further show that adjusting the apparent temperature sensitivity in model estimates markedly improves their ability to represent observed atmospheric CO 2 variability. This study provides observationally constrained estimates of the temperature sensitivity of ecosystem respiration directly at the biome scale and reveals that temperature sensitivities at this scale are lower than those based on earlier plot-scale studies. These findings call for additional work to assess the resilience of large-scale carbon sinks to warming.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2025

Detecting Short Circuits: Post Accident Electric Vehicle Battery Safety Check

Fast and accurate detection of soft short circuits (SCs) in the battery packs of damaged electric vehicles is needed by first responders and mechanics to mitigate the potential risk from battery fires that may occur hours, days, or weeks after an accident. Here, this paper presents an SC-detection algorithm for potentially damaged lithium-ion batteries that works quickly and without a priori knowledge of the battery-pack chemistry, capacity, state of charge, or state of health. The proposed universal SC-detection algorithm is designed to be implemented on an inexpensive handheld device that can connect to and monitor the voltages of all cells in a pack. Transient filtering and linear-quadratic state observation provide estimates of normalized SC current for every cell in the pack. Cells with SC-current estimates outside a sigma-based threshold are detected. Simulations, experiments, and electric vehicle (EV) crash data are used to verify the speed, sensitivity, and accuracy of the method, demonstrating 96% accurate detection of 0.0027 C SCs in under 1 h for 5S cell groups in the lab and no false positives for crashed Volkswagen, Chevrolet, and Tesla vehicles without SCs.

25 - ENERGY STORAGE↗

NASA NTRS2021

Monte Carlo Tree Search Methods for the Earth-Observing Satellite Scheduling Problem

This work explores on-board planning for the single spacecraft, multiple ground station Earth-observing satellite scheduling problem through artificial neural network function approximation of state–action value estimates generated by Monte Carlo tree search (MCTS). An extensive hyperparameter search is conducted for MCTS on the basis of performance, safety, and downlink opportunity utilization to determine the best hyperparameter combination for data generation. A hyperparameter search is also conducted on neural network architectures. The learned behavior of each network is explored, and each network architecture’s robustness to orbits and epochs outside of the training distributions is investigated. Furthermore, each algorithm is compared with a genetic algorithm, which serves to provide a baseline for optimality. MCTS is shown to compute near-optimal solutions in comparison to the genetic algorithm. The state–action value networks are shown to match or exceed the performance of MCTS in six orders of magnitude less execution time, showing promise for execution on board spacecraft.

Adam P. Herrmann↗

DOE OSTI2014

Statistically optimal analysis of state-discretized trajectory data from multiple thermodynamic states

We propose a discrete transition-based reweighting analysis method (dTRAM) for analyzing configuration-space-discretized simulation trajectories produced at different thermodynamic states (temperatures, Hamiltonians, etc.) dTRAM provides maximum-likelihood estimates of stationary quantities (probabilities, free energies, expectation values) at any thermodynamic state. In contrast to the weighted histogram analysis method (WHAM), dTRAM does not require data to be sampled from global equilibrium, and can thus produce superior estimates for enhanced sampling data such as parallel/simulated tempering, replica exchange, umbrella sampling, or metadynamics. In addition, dTRAM provides optimal estimates of Markov state models (MSMs) from the discretized state-space trajectories at all thermodynamic states. Under suitable conditions, these MSMs can be used to calculate kinetic quantities (e.g., rates, timescales). In the limit of a single thermodynamic state, dTRAM estimates a maximum likelihood reversible MSM, while in the limit of uncorrelated sampling data, dTRAM is identical to WHAM. dTRAM is thus a generalization to both estimators.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2017

Detection of Exocometary CO within the 440 Myr Old Fomalhaut Belt: A Similar CO+CO{sub 2} Ice Abundance in Exocomets and Solar System Comets

Recent Atacama Large Millimeter/submillimeter Array observations present mounting evidence for the presence of exocometary gas released within Kuiper Belt analogs around nearby main-sequence stars. This represents a unique opportunity to study their ice reservoir at the younger ages when volatile delivery to planets is most likely to occur. We here present the detection of CO J = 2-1 emission colocated with dust emission from the cometary belt in the 440 Myr old Fomalhaut system. Through spectrospatial filtering, we achieve a 5.4σ detection and determine that the ring’s sky-projected rotation axis matches that of the star. The CO mass derived ((0.65--42)×10{sup −7} M{sub ⊕}) is the lowest of any circumstellar disk detected to date and must be of exocometary origin. Using a steady-state model, we estimate the CO+CO{sub 2} mass fraction of exocomets around Fomalhaut to be between 4.6% and 76%, consistent with solar system comets and the two other belts known to host exocometary gas. This is the first indication of a similarity in cometary compositions across planetary systems that may be linked to their formation scenario and is consistent with direct interstellar medium inheritance. In addition, we find tentative evidence that (49±27)% of the detected flux originates from a region near the eccentric belt’s pericenter. If confirmed, the latter may be explained through a recent impact event or CO pericenter glow due to exocometary release within a steady-state collisional cascade. In the latter scenario, we show how the azimuthal dependence of the CO release rate leads to asymmetries in gas observations of eccentric exocometary belts.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1988

Large-angle slewing maneuvers for flexible spacecraft

A new class of closed-form solutions for finite-time linear-quadratic optimal control problems is presented. The solutions involve Potter's solution for the differential matrix Riccati equation, which assumes the form of a steady-state plus transient term. Illustrative examples are presented which show that the new solutions are more computationally efficient than alternative solutions based on the state transition matrix. As an application of the closed-form solutions, the neighboring extremal path problem is presented for a spacecraft retargeting maneuver where a perturbed plant with off-nominal boundary conditions now follows a neighboring optimal trajectory. The perturbation feedback approach is further applied to three-dimensional slewing maneuvers of large flexible spacecraft. For this problem, the nominal solution is the optimal three-dimensional rigid body slew. The perturbation feedback then limits the deviations from this nominal solution due to the flexible body effects. The use of frequency shaping in both the nominal and perturbation feedback formulations reduces the excitation of high-frequency unmodeled modes. A modified Kalman filter is presented for estimating the plant states.

Chun, Hon M.↗

DOE OSTI2019

Landscape Age as a Major Control on the Geography of Soil Weathering

Global-scale models of rock-derived nutrient availability often assume that physical erosion drives soils toward an approximate “steady state” over geologic timescales. By definition, steady-state models do not represent landscape age—that is, the time elapsed since soil formation is initiated by major erosional or depositional events. We hypothesize that this steady-state assumption has large consequences on estimates of soil fertility because landscape age can mediate the retention of mobile elements in soil, particularly in low-relief landscapes and humid climates. We quantified the effect of landscape age on soil fertility by estimating Na retention in soils across the United States and explicitly resolving landscape age in regions that experienced significant deposition or glacial retreat after the Last Glacial Maximum (LGM). We then used a simple one-compartment model to simulate soil formation and weathering, comparing predictions that incorporated landscape age with those based on the steady-state assumption. We found that soils formed in LGM deposits in low-relief, humid settings generally retain 10 times more Na than soils formed outside of LGM deposits. Furthermore, the model that accounted for landscape age outperformed a steady-state model across the United States and increased globally averaged estimates of Na retention by 17%. These results reinforce the idea that landscape age is a major control on weathering and should not be ignored in simulations of nutrient cycling.

58 GEOSCIENCES↗

DOE OSTI2022

Inherent Anharmonicity of Harmonic Solids

Atomic vibrations, in the form of phonons, are foundational in describing the thermal behavior of materials. The possible frequencies of phonons in materials are governed by the complex bonding between atoms, which is physically represented by a spring-mass model that can account for interactions (spring forces) between the atoms (masses). The lowest-order, harmonic , approximation only considers linear forces between atoms and is thought incapable of explaining phenomena like thermal expansion and thermal conductivity, which are attributed to nonlinear, anharmonic , interactions. Here, we show that the kinetic energy of atoms in a solid produces a pressure much like the kinetic energy of atoms in a gas does. This vibrational or phonon pressure naturally increases with temperature, as it does in a gas and therefore results in a thermal expansion. Because thermal expansion thermodynamically defines a Grüneisen parameter γ , which is a typical metric of anharmonicity, we show that even a harmonic solid will necessarily have some anharmonicity. A consequence of this phonon pressure model is a harmonic estimation of the Grüneisen parameter as γ ≈ 3 / 2 3 − 4 x 2 / 1 + 2 x 2 , where x = v t / v l is the ratio of the transverse and longitudinal speeds of sound. We demonstrate the immediate utility of this model by developing a high-throughput harmonic estimate of lattice thermal conductivity that is comparable to other state-of-the-art estimations. By linking harmonic and anharmonic properties explicitly, this study provokes new ideas about the fundamental nature of anharmonicity, while also providing a basis for new material engineering design metrics.

42 ENGINEERING↗

NASA NTRS1982

Space Shuttle Orbiter onboard rendezvous navigation

Much of the work that the Space Shuttle will perform requires a capability to rendezvous with other orbiting objects. The formulation and design philosophy behind the Space Shuttle Orbiter rendezvous navigation system are the subjects of this paper. The current rendezvous navigation design incorporates a Kalman filter to estimate the relative position and velocity. The filter is augmented with state elements for the estimation of colored measurement noise and acceleration modeling errors. Several measurement types are available to the filter: a manual optical sighting device, an automatic optical tracking instrument, and a rendezvous radar which provides range and range rate measurements as well as the line of sight direction. The filter also includes a technique for detecting highly improbable measurements and excluding them from Kalman processing.

Little, M. J.↗

NASA NTRS2013

Mission Data System Java Edition Version 7

The Mission Data System framework defines closed-loop control system abstractions from State Analysis including interfaces for state variables, goals, estimators, and controllers that can be adapted to implement a goal-oriented control system. The framework further provides an execution environment that includes a goal scheduler, execution engine, and fault monitor that support the expression of goal network activity plans. Using these frameworks, adapters can build a goal-oriented control system where activity coordination is verified before execution begins (plan time), and continually during execution. Plan failures including violations of safety constraints expressed in the plan can be handled through automatic re-planning. This version optimizes a number of key interfaces and features to minimize dependencies, performance overhead, and improve reliability. Fault diagnosis and real-time projection capabilities are incorporated. This version enhances earlier versions primarily through optimizations and quality improvements that raise the technology readiness level. Goals explicitly constrain system states over explicit time intervals to eliminate ambiguity about intent, as compared to command-oriented control that only implies persistent intent until another command is sent. A goal network scheduling and verification process ensures that all goals in the plan are achievable before starting execution. Goal failures at runtime can be detected (including predicted failures) and handled by adapted response logic. Responses can include plan repairs (try an alternate tactic to achieve the same goal), goal shedding, ignoring the fault, cancelling the plan, or safing the system.

Reinholtz, William K.↗

DOE OSTI2019

3-D Thermal-Electric Finite Element Model of a Nb 3 Sn Coil During a Quench

High field superconducting magnets for particle accelerators often exhibit premature quenches. Once a normal zone is generated within the conductor, the quench may propagate causing temperature and resistive voltage rise along the coil. The resulting thermal gradients can potentially cause new peak stresses that might exceed the tolerable limits, degrading the conductor. The computation of the strain state in the coils during quench then becomes of paramount importance for magnet design, and requires a complete three-dimensional (3-D) analysis of quench phenomena. The objective of this paper is to present the first multiphysics modeling activities towards a new full 3-D methodology for the analysis of magnet mechanics during quench. As a first step, a 3-D thermal-electric finite element model of a Nb 3 Sn superconducting coil is developed and explained here. The model uses direct coupled-field elements to solve the system of thermal and electrical equations. A solving algorithm has also been implemented in order to investigate the physics behind quench transients. The output from this model, built in ANSYS APDL, can be easily coupled in a later stage to a mechanical model in order to estimate the strain state in the coil windings. In conclusion, a very good agreement has been observed between the numerical results and experimental tests performed in individual superconducting cables and real superconducting magnets.

43 PARTICLE ACCELERATORS↗

DOE OSTI2015

A COMPARATIVE ANALYSIS OF THE SUPERNOVA LEGACY SURVEY SAMPLE WITH ΛCDM AND THE R{sub h}=ct UNIVERSE

The use of Type Ia supernovae (SNe Ia) has thus far produced the most reliable measurement of the expansion history of the universe, suggesting that ΛCDM offers the best explanation for the redshift–luminosity distribution observed in these events. However, analysis of other kinds of sources, such as cosmic chronometers, gamma-ray bursts, and high-z quasars, conflicts with this conclusion, indicating instead that the constant expansion rate implied by the R{sub h} = ct universe is a better fit to the data. The central difficulty with the use of SNe Ia as standard candles is that one must optimize three or four nuisance parameters characterizing supernova (SN) luminosities simultaneously with the parameters of an expansion model. Hence, in comparing competing models, one must reduce the data independently for each. We carry out such a comparison of ΛCDM and the R{sub h} = ct universe using the SN Legacy Survey sample of 252 SN events, and show that each model fits its individually reduced data very well. However, since R{sub h} = ct has only one free parameter (the Hubble constant), it follows from a standard model selection technique that it is to be preferred over ΛCDM, the minimalist version of which has three (the Hubble constant, the scaled matter density, and either the spatial curvature constant or the dark energy equation-of-state parameter). We estimate using the Bayes Information Criterion that in a pairwise comparison, the likelihood of R{sub h} = ct is ∼90%, compared with only ∼10% for a minimalist form of ΛCDM, in which dark energy is simply a cosmological constant. Compared to R{sub h} = ct, versions of the standard model with more elaborate parametrizations of dark energy are judged to be even less likely.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2014

Challenges in nucleosynthesis of trans-iron elements

Nucleosynthesis beyond Fe poses additional challenges not encountered when studying astrophysical processes involving light nuclei. Astrophysical sites and conditions are not well known for some of the processes involved. On the nuclear physics side, different approaches are required, both in theory and experiment. The main differences and most important considerations are presented for a selection of nucleosynthesis processes and reactions, specifically the s-, r-, γ-, and νp-processes. Among the discussed issues are uncertainties in sites and production conditions, the difference between laboratory and stellar rates, reaction mechanisms, important transitions, thermal population of excited states, and uncertainty estimates for stellar rates. The utility and limitations of indirect experimental approaches are also addressed. The presentation should not be viewed as confining the discussed problems to the specific processes. The intention is to generally introduce the concepts and possible pitfalls along with some examples. Similar problems may apply to further astrophysical processes involving nuclei from the Fe region upward and/or at high plasma temperatures. The framework and strategies presented here are intended to aid the conception of future experimental and theoretical approaches.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

DOE OSTI2014

Communication: Ab initio study of O{sub 4}H{sup +}: A tracer molecule in the interstellar medium?

The structure and energetics of the protonated molecular oxygen dimer calculated via ab initio methods is reported. We find structures that share analogies with the eigen and zundel forms for the protonated water dimer although the symmetrical sharing of the proton is more prevalent. Analysis of different fragmentation channels show charge transfer processes which indicate the presence of conical intersections for various states including the ground state. An accurate estimate for the proton affinity of O{sub 4} leads to a significantly larger value (5.6 eV) than for O{sub 2} (4.4 eV), implying that the reaction H{sub 3}{sup +} + O{sub 4} → O{sub 4}H{sup +} + H{sub 2} is exothermic by 28 Kcal/mol as opposed to the case of O{sub 2} which is nearly thermoneutral. This opens up the possibility of using O{sub 4}H{sup +} as a tracer molecule for oxygen in the interstellar medium.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2015

Nuclear-physical analysis methods in medical geology: Assessment of the impact of environmental factors on human health

The procedure for geomedical studies is outlined, and the niche occupied by the nuclear-physical analysis methods in these studies is pointed out. The necessity of construction of an efficient complex of the most modern analytical methods is demonstrated. The metrological parameters of methods applied in the analysis of natural environments and biological materials are evaluated. The current state of pollution of natural environments with heavy and toxic metals is characterized in two specific industrial hubs: the towns of Gus-Khrustalny and Podolsk. The levels of pollution of diagnostic biological materials (hair and blood) from children living in various urban districts are studied in the light of specific features of the manufacturing industry in these towns and the life environment of child population. The results of studies focused on evaluating the effect of environment on the health of child population are detailed. The actual damage to child health, their neuropsychic development and behavior, and the effect of socioeconomic factors are determined. Preventive problems among the child population exposed to lead and other toxic metals are evaluated, and ways to solve them are proposed. A system of early diagnosis and preventive measures for the mitigation of adverse effect of toxic metals (Pb, Cu, Mn, Zn, Cr, Ni, As, etc.) on the neuropsychic development of children is developed based on an actual ecogeochemical estimation of the state of the region under study.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2012

A Geometric Analysis to Protect Manned Assets from Newly Launched Objects - COLA Gap Analysis

A safety risk was identified for the International Space Station (ISS) by The Aerospace Corporation following the launch of GPS IIR-20 (March 24, 2009), when the spent upper stage of the launch vehicle unexpectedly crossed inside the ISS notification box shortly after launch. This event highlighted a 56-hour vulnerability period following the end of the launch Collision Avoidance (COLA) process where the ISS would be unable to react to a conjunction with a newly launched object. Current launch COLA processes screen each launched object across the launch window to determine if an object's nominal trajectory is predicted to pass within 200 km of the ISS (or any other manned/mannable object), resulting in a launch time closure. These launch COLA screens are performed from launch through separation plus I 00 minutes. Once the objects are in orbit, they are cataloged and evaluated as part of routine on-orbit conjunction assessment processes. However, as the GPS IIR-20 scenario illustrated, there is a vulnerability period in the time line between the end of launch COLA coverage and the beginning of standard on-orbit COLA assessment activities. The gap between existing launch and on-orbit COLA processes is driven by the time it takes to track and catalog a launched object, identify a conjunction, and plan and execute a collision avoidance maneuver. For the ISS, the total time required to accomplish an of these steps is 56 hours. To protect human lives, NASA/JSC has requested that an US launches take additional steps to protect the ISS during this "COLA gap" period. The uncertainty in the state of a spent upper stage can be quite large after all bums are complete and all remaining propellants are expelled to safe the stage. Simply extending the launch COLA process an additional 56 hours is not a viable option as the 3-sigma position uncertainty will far exceed the 200 km miss-distance criterion. Additionally, performing a probability of collision (Pc) analysis over this period is also not practical due to the limiting effects of these large orbit state uncertainties. An estimated upper bound for Pc for a typical spent upper stage if nominally aligned for a direct broadside collision with the ISS is only on the order of 10-6. For a smaller manned object such as a Soyuz capsule, the risk level decreases to an order of 10'8 . In comparison, the Air Force Range policy (AFI 91-217) for launch COLAs would only eliminate launch opportunities when conjunctions with objects exceed a Pc of 10'5 This paper demonstrates a conservative geometry-based methodology that may be used to determine if launch opportunities pose a threat to the ISS during the COLA gap period. The NASA Launch Services Program at Kennedy Space Center has developed this COLA gap analysis method and employed it fQr three NASA missions to identify potential ISS conjunctions and corresponding launch window closures during the 56-hour at-risk period. In the analysis, for each launch opportunity, the nominal trajectory of the spent upper stage and the orbit state of the ISS are propagated over the 56 hour period. Each time the upper stage crosses the orbit plane of the ISS, the relative radial and argument of latitude separations are calculated. A window cutout is identified if these separation differences fall within a mission-specific violation box, which is determined from the evaluation of a Monte Carlo dispersions analysis that quantifies the potential variation in the upper stage radial and argument of latitude differences. This paper details the results of these analyses and their impacts to each mission.

Hametz, Mark E.↗

NASA NTRS1995

Determination of Eros Physical Parameters for Near Earth Asteroid Rendezvous Orbit Phase Navigation

Navigation of the orbit phase of the Near Earth steroid Rendezvous (NEAR) mission will re,quire determination of certain physical parameters describing the size, shape, gravity field, attitude and inertial properties of Eros. Prior to launch, little was known about Eros except for its orbit which could be determined with high precision from ground based telescope observations. Radar bounce and light curve data provided a rough estimate of Eros shape and a fairly good estimate of the pole, prime meridian and spin rate. However, the determination of the NEAR spacecraft orbit requires a high precision model of Eros's physical parameters and the ground based data provides only marginal a priori information. Eros is the principal source of perturbations of the spacecraft's trajectory and the principal source of data for determining the orbit. The initial orbit determination strategy is therefore concerned with developing a precise model of Eros. The original plan for Eros orbital operations was to execute a series of rendezvous burns beginning on December 20,1998 and insert into a close Eros orbit in January 1999. As a result of an unplanned termination of the rendezvous burn on December 20, 1998, the NEAR spacecraft continued on its high velocity approach trajectory and passed within 3900 km of Eros on December 23, 1998. The planned rendezvous burn was delayed until January 3, 1999 which resulted in the spacecraft being placed on a trajectory that slowly returns to Eros with a subsequent delay of close Eros orbital operations until February 2001. The flyby of Eros provided a brief glimpse and allowed for a crude estimate of the pole, prime meridian and mass of Eros. More importantly for navigation, orbit determination software was executed in the landmark tracking mode to determine the spacecraft orbit and a preliminary shape and landmark data base has been obtained. The flyby also provided an opportunity to test orbit determination operational procedures that will be used in February of 2001. The initial attitude and spin rate of Eros, as well as estimates of reference landmark locations, are obtained from images of the asteroid. These initial estimates are used as a priori values for a more precise refinement of these parameters by the orbit determination software which combines optical measurements with Doppler tracking data to obtain solutions for the required parameters. As the spacecraft is maneuvered; closer to the asteroid, estimates of spacecraft state, asteroid attitude, solar pressure, landmark locations and Eros physical parameters including mass, moments of inertia and gravity harmonics are determined with increasing precision. The determination of the elements of the inertia tensor of the asteroid is critical to spacecraft orbit determination and prediction of the asteroid attitude. The moments of inertia about the principal axes are also of scientific interest since they provide some insight into the internal mass distribution. Determination of the principal axes moments of inertia will depend on observing free precession in the asteroid's attitude dynamics. Gravity harmonics are in themselves of interest to science. When compared with the asteroid shape, some insight may be obtained into Eros' internal structure. The location of the center of mass derived from the first degree harmonic coefficients give a direct indication of overall mass distribution. The second degree harmonic coefficients relate to the radial distribution of mass. Higher degree harmonics may be compared with surface features to gain additional insight into mass distribution. In this paper, estimates of Eros physical parameters obtained from the December 23,1998 flyby will be presented. This new knowledge will be applied to simplification of Eros orbital operations in February of 2001. The resulting revision to the orbit determination strategy will also be discussed.

Miller, J. K.↗

NASA NTRS2015

Rao-Blackwellization for Adaptive Gaussian Sum Nonlinear Model Propagation

When dealing with imperfect data and general models of dynamic systems, the best estimate is always sought in the presence of uncertainty or unknown parameters. In many cases, as the first attempt, the Extended Kalman filter (EKF) provides sufficient solutions to handling issues arising from nonlinear and non-Gaussian estimation problems. But these issues may lead unacceptable performance and even divergence. In order to accurately capture the nonlinearities of most real-world dynamic systems, advanced filtering methods have been created to reduce filter divergence while enhancing performance. Approaches, such as Gaussian sum filtering, grid based Bayesian methods and particle filters are well-known examples of advanced methods used to represent and recursively reproduce an approximation to the state probability density function (pdf). Some of these filtering methods were conceptually developed years before their widespread uses were realized. Advanced nonlinear filtering methods currently benefit from the computing advancements in computational speeds, memory, and parallel processing. Grid based methods, multiple-model approaches and Gaussian sum filtering are numerical solutions that take advantage of different state coordinates or multiple-model methods that reduced the amount of approximations used. Choosing an efficient grid is very difficult for multi-dimensional state spaces, and oftentimes expensive computations must be done at each point. For the original Gaussian sum filter, a weighted sum of Gaussian density functions approximates the pdf but suffers at the update step for the individual component weight selections. In order to improve upon the original Gaussian sum filter, Ref. [2] introduces a weight update approach at the filter propagation stage instead of the measurement update stage. This weight update is performed by minimizing the integral square difference between the true forecast pdf and its Gaussian sum approximation. By adaptively updating each component weight during the nonlinear propagation stage an approximation of the true pdf can be successfully reconstructed. Particle filtering (PF) methods have gained popularity recently for solving nonlinear estimation problems due to their straightforward approach and the processing capabilities mentioned above. The basic concept behind PF is to represent any pdf as a set of random samples. As the number of samples increases, they will theoretically converge to the exact, equivalent representation of the desired pdf. When the estimated qth moment is needed, the samples are used for its construction allowing further analysis of the pdf characteristics. However, filter performance deteriorates as the dimension of the state vector increases. To overcome this problem Ref. [5] applies a marginalization technique for PF methods, decreasing complexity of the system to one linear and another nonlinear state estimation problem. The marginalization theory was originally developed by Rao and Blackwell independently. According to Ref. [6] it improves any given estimator under every convex loss function. The improvement comes from calculating a conditional expected value, often involving integrating out a supportive statistic. In other words, Rao-Blackwellization allows for smaller but separate computations to be carried out while reaching the main objective of the estimator. In the case of improving an estimator's variance, any supporting statistic can be removed and its variance determined. Next, any other information that dependents on the supporting statistic is found along with its respective variance. A new approach is developed here by utilizing the strengths of the adaptive Gaussian sum propagation in Ref. [2] and a marginalization approach used for PF methods found in Ref. [7]. In the following sections a modified filtering approach is presented based on a special state-space model within nonlinear systems to reduce the dimensionality of the optimization problem in Ref. [2]. First, the adaptive Gaussian sum propagation is explained and then the new marginalized adaptive Gaussian sum propagation is derived. Finally, an example simulation is presented.

state estimation↗