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Empirical Bayes filter for use in trajectory estimation and comparison of performance with Kalman filter
The second-order Moller-Plesset ab initio electronic structure method is used to compute points for the anharmonic mode-coupled potential energy surface of N-methylacetamide (NMA) in the trans(sub ct) configuration, including all degrees of freedom. The vibrational states and the spectroscopy are directly computed from this potential surface using the Correlation Corrected Vibrational Self-Consistent Field (CC-VSCF) method. The results are compared with CC-VSCF calculations using both the standard and improved empirical Amber-like force fields and available low temperature experimental matrix data. Analysis of our calculated spectroscopic results show that: (1) The excellent agreement between the ab initio CC-VSCF calculated frequencies and the experimental data suggest that the computed anharmonic potentials for N-methylacetamide are of a very high quality; (2) For most transitions, the vibrational frequencies obtained from the ab initio CC-VSCF method are superior to those obtained using the empirical CC-VSCF methods, when compared with experimental data. However, the improved empirical force field yields better agreement with the experimental frequencies as compared with a standard AMBER-type force field; (3) The empirical force field in particular overestimates anharmonic couplings for the amide-2 mode, the methyl asymmetric bending modes, the out-of-plane methyl bending modes, and the methyl distortions; (4) Disagreement between the ab initio and empirical anharmonic couplings is greater than the disagreement between the frequencies, and thus the anharmonic part of the empirical potential seems to be less accurate than the harmonic contribution;and (5) Both the empirical and ab initio CC-VSCF calculations predict a negligible anharmonic coupling between the amide-1 and other internal modes. The implication of this is that the intramolecular energy flow between the amide-1 and the other internal modes may be smaller than anticipated. These results may have important implications for the anharmonic force fields of peptides, for which N-methylacetamide is a model.
State estimation techniques serve effectively to provide mean state estimates. However, the state error covariance matrices provided as part of these techniques suffer from some degree of lack of confidence in their ability to adequately describe the uncertainty in the estimated states. A specific problem with the traditional form of state error covariance matrices is that they represent only a mapping of the assumed observation error characteristics into the state space. Any errors that arise from other sources (environment modeling, precision, etc.) are not directly represented in a traditional, theoretical state error covariance matrix. First, consider that an actual observation contains only measurement error and that an estimated observation contains all other errors, known and unknown. Then it follows that a measurement residual (the difference between expected and observed measurements) contains all errors for that measurement. Therefore, a direct and appropriate inclusion of the actual measurement residuals in the state error covariance matrix of the estimate will result in an empirical state error covariance matrix. This empirical state error covariance matrix will fully include all of the errors in the state estimate. The empirical error covariance matrix is determined from a literal reinterpretation of the equations involved in the weighted least squares estimation algorithm. It is a formally correct, empirical state error covariance matrix obtained through use of the average form of the weighted measurement residual variance performance index rather than the usual total weighted residual form. Based on its formulation, this matrix will contain the total uncertainty in the state estimate, regardless as to the source of the uncertainty and whether the source is anticipated or not. It is expected that the empirical error covariance matrix will give a better, statistical representation of the state error in poorly modeled systems or when sensor performance is suspect. In its most straight forward form, the technique only requires supplemental calculations to be added to existing batch estimation algorithms. In the current problem being studied a truth model making use of gravity with spherical, J2 and J4 terms plus a standard exponential type atmosphere with simple diurnal and random walk components is used. The ability of the empirical state error covariance matrix to account for errors is investigated under four scenarios during orbit estimation. These scenarios are: exact modeling under known measurement errors, exact modeling under corrupted measurement errors, inexact modeling under known measurement errors, and inexact modeling under corrupted measurement errors. For this problem a simple analog of a distributed space surveillance network is used. The sensors in this network make only range measurements and with simple normally distributed measurement errors. The sensors are assumed to have full horizon to horizon viewing at any azimuth. For definiteness, an orbit at the approximate altitude and inclination of the International Space Station is used for the study. The comparison analyses of the data involve only total vectors. No investigation of specific orbital elements is undertaken. The total vector analyses will look at the chisquare values of the error in the difference between the estimated state and the true modeled state using both the empirical and theoretical error covariance matrices for each of scenario.
State estimation techniques serve effectively to provide mean state estimates. However, the state error covariance matrices provided as part of these techniques suffer from some degree of lack of confidence in their ability to adequately describe the uncertainty in the estimated states. A specific problem with the traditional form of state error covariance matrices is that they represent only a mapping of the assumed observation error characteristics into the state space. Any errors that arise from other sources (environment modeling, precision, etc.) are not directly represented in a traditional, theoretical state error covariance matrix. Consider that an actual observation contains only measurement error and that an estimated observation contains all other errors, known and unknown. It then follows that a measurement residual (the difference between expected and observed measurements) contains all errors for that measurement. Therefore, a direct and appropriate inclusion of the actual measurement residuals in the state error covariance matrix will result in an empirical state error covariance matrix. This empirical state error covariance matrix will fully account for the error in the state estimate. By way of a literal reinterpretation of the equations involved in the weighted least squares estimation algorithm, it is possible to arrive at an appropriate, and formally correct, empirical state error covariance matrix. The first specific step of the method is to use the average form of the weighted measurement residual variance performance index rather than its usual total weighted residual form. Next it is helpful to interpret the solution to the normal equations as the average of a collection of sample vectors drawn from a hypothetical parent population. From here, using a standard statistical analysis approach, it directly follows as to how to determine the standard empirical state error covariance matrix. This matrix will contain the total uncertainty in the state estimate, regardless as to the source of the uncertainty. Also, in its most straight forward form, the technique only requires supplemental calculations to be added to existing batch algorithms. The generation of this direct, empirical form of the state error covariance matrix is independent of the dimensionality of the observations. Mixed degrees of freedom for an observation set are allowed. As is the case with any simple, empirical sample variance problems, the presented approach offers an opportunity (at least in the case of weighted least squares) to investigate confidence interval estimates for the error covariance matrix elements. The diagonal or variance terms of the error covariance matrix have a particularly simple form to associate with either a multiple degree of freedom chi-square distribution (more approximate) or with a gamma distribution (less approximate). The off diagonal or covariance terms of the matrix are less clear in their statistical behavior. However, the off diagonal covariance matrix elements still lend themselves to standard confidence interval error analysis. The distributional forms associated with the off diagonal terms are more varied and, perhaps, more approximate than those associated with the diagonal terms. Using a simple weighted least squares sample problem, results obtained through use of the proposed technique are presented. The example consists of a simple, two observer, triangulation problem with range only measurements. Variations of this problem reflect an ideal case (perfect knowledge of the range errors) and a mismodeled case (incorrect knowledge of the range errors).
A smooth empirical Bayes estimator is derived for the intensity parameter (hazard rate) in the Poisson distribution as used in life testing. The reliability function is also estimated either by using the empirical Bayes estimate of the parameter, or by obtaining the expectation of the reliability function. The behavior of the empirical Bayes procedure is studied through Monte Carlo simulation in which estimates of mean-squared errors of the empirical Bayes estimators are compared with those of conventional estimators such as minimum variance unbiased or maximum likelihood. Results indicate a significant reduction in mean-squared error of the empirical Bayes estimators over the conventional variety.
Possible sources of pronounced discrepancy between empirical and theoretical models of the solar chromosphere during flares are discussed. It is noted that a principal source of uncertainty in empirical models is the inhomogeneity of the spectral data on which they are based. With theoretical models, probably the most important source of error is neglect of the radiative coupling of upper and lower chromospheric regions. A new procedure for studying flare energy input is suggested wherein the required input is derived from the empirical model chromosphere. This procedure is applied to the electron-heated case, and it is found that the integral equation defining the flare energy deposition rate can be inverted analytically to yield the injected electron flux energy spectrum from knowledge of the energy balance in the empirical atmosphere. Recent empirical model results are analyzed in this manner, and the calculated injected electron flux spectrum is compared with that needed for hard X-ray bursts in moderately large flares.
A new suite of empirical models of plasmaspheric plasma based on remote, global images from the IMAGE EUV instrument is proposed for development. The purpose of these empirical models is to establish the statistical properties of the plasmasphere as a function of conditions. This suite of models will mark the first time the plasmaspheric plume is included in an empirical model. Development of these empirical plasmaspheric models will support synoptic studies (such as for wave propagation and growth, energetic particle loss through collisions and dust transport as influenced by charging) and serves as a benchmark against which physical models can be tested. The ability to know that a specific global density distribution occurs in response to specific magnetospheric and solar wind factors is a huge advantage over all previous in-situ based empirical models. The consequence of creating these new plasmaspheric models will be to provide much higher fidelity and much richer quantitative descriptions of the statistical properties of plasmaspheric plasma in the inner magnetosphere, whether that plasma is in the main body of the plasmasphere, nearby during recovery or in the plasmaspheric plume. Model products to be presented include statistical probabilities for being in the plasmasphere, near thermal He+ density boundaries and the complexity of its spatial structure.
We are developing a time stationary self-consistent 2D MHD model of the solar corona and solar wind as suggested by Sittler et al. (2003). Sittler & Guhathakurta (1999) developed a semiempirical steady state model (SG model) of the solar wind in a multipole 3-streamer structure, with the model constrained by Skylab observations. Guhathakurta et al. (2006) presented a more recent version of their initial work. Sittler et al. (2003) modified the SG model by investigating time dependent MHD, ad hoc heating term with heat conduction and empirical heating solutions. Next step of development of 2D MHD models was performed by Sittler & Ofman (2006). They derived effective temperature and effective heat flux from the data-driven SG model and fit smooth analytical functions to be used in MHD calculations. Improvements of the Sittler & Ofman (2006) results now show a convergence of the 3-streamer topology into a single equatorial streamer at altitudes > 2 R(sub S). This is a new result and shows we are now able to reproduce observations of an equatorially confined streamer belt. In order to allow our solutions to be applied to more general applications, we extend that model by using magnetogram data and PFSS model as a boundary condition. Initial results were presented by Selwa et al. (2008). We choose solar minimum magnetogram data since during solar maximum the boundary conditions are more complex and the coronal magnetic field may not be described correctly by PFSS model. As the first step we studied the simplest 2D MHD case with variable heat conduction, and with empirical heat input combined with empirical momentum addition for the fast solar wind. We use realistic magnetic field data based on NSO/GONG data, and plan to extend the study to 3D. This study represents the first attempt of fully self-consistent realistic model based on real data and including semi-empirical heat flux and semi-empirical effective pressure terms.
An empirical criterion for assessing the significance of individual terms of regression models of wind tunnel strain gage balance outputs is evaluated. The criterion is based on the percent contribution of a regression model term. It considers a term to be significant if its percent contribution exceeds the empirical threshold of 0.05%. The criterion has the advantage that it can easily be computed using the regression coefficients of the gage outputs and the load capacities of the balance. First, a definition of the empirical criterion is provided. Then, it is compared with an alternate statistical criterion that is widely used in regression analysis. Finally, calibration data sets from a variety of balances are used to illustrate the connection between the empirical and the statistical criterion. A review of these results indicated that the empirical criterion seems to be suitable for a crude assessment of the significance of a regression model term as the boundary between a significant and an insignificant term cannot be defined very well. Therefore, regression model term reduction should only be performed by using the more universally applicable statistical criterion.
Plant responses to water stress is a major uncertainty to predicting terrestrial ecosystem sensitivity to drought. Different approaches have been developed to represent plant water stress. Empirical approaches (the empirical soil water stress (or Beta) function and the supply-demand balance scheme) have been widely used for many decades; more mechanistic based approaches, that is, plant hydraulic models (PHMs), were increasingly adopted in the past decade. However, the relationships between them—and their underlying connections to physical processes—are not sufficiently understood. This limited understanding hinders informed decisions on the necessary complexities needed for different applications, with empirical approaches being mechanistically insufficient, and PHMs often being too complex to constrain. Here we introduce a unified framework for modeling transpiration responses to water stress, within which we demonstrate that empirical approaches are special cases of the full PHM, when the plant hydraulic parameters satisfy certain conditions. We further evaluate their response differences and identify the associated physical processes. Finally, we propose a methodology for assessing the necessity of added complexities of the PHM under various climatic conditions and ecosystem types, with case studies in three typical ecosystems: a humid Midwestern cropland, a semi-arid evergreen needleleaf forest, and an arid grassland. Notably, Beta function overestimates transpiration when VPD is high due to its lack of constraints from hydraulic transport and is therefore insufficient in high VPD environments. With the unified framework, we envision researchers can better understand the mechanistic bases of and the relationships between different approaches and make more informed choices.
We use density functional theory (DFT) with non-empirically tuned screened range-separated hybrid (SRSH) functionals to calculate the electronic properties of native zinc and oxygen vacancy point defects in ZnO, and we predict their defect levels for thermal and optical transitions in excellent agreement with available experiments and prior calculations that use empirical hybrid functionals. Furthermore, the ability of this non-empirical first-principles framework to accurately predict quantities of relevance to both bulk- and defect-level spectroscopy enables high-accuracy DFT calculations with non-empirical hybrid functionals for defect physics, at a reduced computational cost.
This report supplements the Verification of Empire-Cable SAND report by expanding on the use of Xyce to simulate the coupling to a transmission line cable model. While Empire-Cable solves its governing equations on a high-order, finite-element mesh with an an implicit-in-time formulation, Xyce must use a first order graph for the circuit and explicit-in-time approach to be compatible with non-linear electrical device models. Thus, given the different solution methodologies in Xyce as compared to Empire-Cable, the convergence rates are expected to be different but the overall quality of the solution should be the same. The original four canonical problems studied in the Empire-Cable verification report are replicated here running in Xyce using transmission line modeling parameters from the verification report. Overall, agreement between the codes is excellent with Xyce’s convergence rates being limited mostly to first order due to the circuit network approximation of a transmission line being a first order approximation.
From the viewpoint of a project manager responsible for the V&V (verification and validation) of a software system, mathematical verification techniques provide a possibly useful orthogonal dimension to otherwise standard empirical testing. However, the value they add to an empirical testing regime both in terms of coverage and in fault detection has been difficult to quantify. Furthermore, potential cost savings from replacing testing with mathematical verification techniques cannot be realized until the tradeoffs and synergies can be formulated. Integration of formal verification with empirical testing is also difficult because the idealized view of mathematical verification providing a correctness proof with total coverage is unrealistic and does not reflect the limitations imposed by computational complexity of mathematical techniques. This paper first describes a framework based on software reliability and formalized fault models for a theory of software design fault detection - and hence the utility of various tools for debugging. It then describes a utility model for integrating mathematical and empirical techniques with respect to fault detection and coverage analysis. It then considers the optimal combination of black-box testing, white-box (structural) testing, and formal methods in V&V of a software system. Using case studies from NASA software systems, it then demonstrates how this utility model can be used in practice.
Rainfall-triggered landslides typically occur and are evaluated at local scales, using slope-stability models to calculate coincident changes in driving and resisting forces at the hillslope level in order to anticipate slope failures. Over larger areas, detailed high resolution landslide modeling is often infeasible due to difficulties in quantifying the complex interaction between rainfall infiltration and surface materials as well as the dearth of available in situ soil and rainfall estimates and accurate landslide validation data. This presentation will discuss how satellite precipitation and surface information can be applied within a landslide hazard assessment framework to improve landslide monitoring and early warning by considering two disparate approaches to landslide hazard assessment: an empirical landslide forecasting algorithm and a physical slope-stability model. The goal of this research is to advance near real-time landslide hazard assessment and early warning at larger spatial scales. This is done by employing high resolution surface and precipitation information within a probabilistic framework to provide more physically-based grounding to empirical landslide triggering thresholds. The empirical landslide forecasting tool, running in near real-time at http://trmm.nasa.gov, considers potential landslide activity at the global scale and relies on Tropical Rainfall Measuring Mission (TRMM) precipitation data and surface products to provide a near real-time picture of where landslides may be triggered. The physical approach considers how rainfall infiltration on a hillslope affects the in situ hydro-mechanical processes that may lead to slope failure. Evaluation of these empirical and physical approaches are performed within the Land Information System (LIS), a high performance land surface model processing and data assimilation system developed within the Hydrological Sciences Branch at NASA's Goddard Space Flight Center. LIS provides the capabilities to quantify uncertainty from model inputs and calculate probabilistic estimates for slope failures. Results indicate that remote sensing data can provide many of the spatiotemporal requirements for accurate landslide monitoring and early warning; however, higher resolution precipitation inputs will help to better identify small-scale precipitation forcings that contribute to significant landslide triggering. Future missions, such as the Global Precipitation Measurement (GPM) mission will provide more frequent and extensive estimates of precipitation at the global scale, which will serve as key inputs to significantly advance the accuracy of landslide hazard assessment, particularly over larger spatial scales.
We investigate an empirical quantile estimation approach to solve chance-constrained nonlinear optimization problems. Our approach is based on the reformulation of the chance constraint as an equivalent quantile constraint to provide stronger signals on the gradient. In this approach, the value of the quantile function is estimated empirically from samples drawn from the random parameters, and the gradient of the quantile function is estimated via a finite-difference approximation on top of the quantile-function-value estimation. We establish a convergence theory of this approach within the framework of an augmented Lagrangian method for solving general nonlinear constrained optimization problems. The foundation of the convergence analysis is a concentration property of the empirical quantile process, and the analysis is divided based on whether or not the quantile function is differentiable. In contrast to the sampling-and-smoothing approach used in the literature, the method developed in this paper does not involve any smoothing function and hence the quantile-function gradient approximation is easier to implement and there are less accuracy-control parameters to tune. Furthermore, we demonstrate the effectiveness of this approach and compare it with a smoothing method for the quantile-gradient estimation. Numerical investigation shows that the two approaches are competitive for certain problem instances.
Estimating actual evapotranspiration (ET) is particularly crucial for addressing how vegetation affects the water balance of ecosystems. ET estimation can be complex with empirical models due to their many parameters and reliance on aridity. In contrast, artificial neural networks (ANNs) could potentially estimate ET with fewer and more common meteorological parameters. In this study, we trained two ANNs, one using a feed-forward approach (FFN) and the other a nonlinear auto-regressive network (NARX), to predict ET and compared them to the commonly used empirical model Granger and Gray (GG). We trained our models on a nine-year eddy covariance (EC) dataset for Miscanthu s × giganteus ( M . × giganteus ) from Illinois (UIEF), then tested them using out-of-sample data from both UIEF and a different location in Iowa (SABR) to compare the accuracy of FFN, NARX, and GG models in estimating daily ET. A combination of air temperature (T a ) and solar radiation (R s ) was chosen as inputs due to the highest R 2 for FFN (R 2 = 0.79, 0.81, and 0.79 for training, testing, and validation, respectively) and only T a for NARX (R 2 = 0.70 for out-of-sample validation). The predictive power of the FFN model was superior to the NARX and GG models at the UIEF site (R 2 = 0.84, 0.70, and 0.83 for out-of-sample validation, respectively). Our analysis showed that ANN approaches are as accurate as empirical approaches for estimating ET but use fewer inputs.
Abstract In the past few decades, there has been an evolution in our understanding of soil organic matter (SOM) dynamics from one of inherent biochemical recalcitrance to one deriving from plant‐microbe‐mineral interactions. This shift in understanding has been driven, in part, by influential conceptual frameworks which put forth hypotheses about SOM dynamics. Here, we summarize several focal conceptual frameworks and derive from them six controls related to SOM formation, (de)stabilization, and loss. These include: (a) physical inaccessibility; (b) organo‐mineral and ‐metal stabilization; (c) biodegradability of plant inputs; (d) abiotic environmental factors; (e) biochemical reactivity and diversity; and (f) microbial physiology and morphology. We then review the empirical evidence for these controls, their model representation, and outstanding knowledge gaps. We find relatively strong empirical support and model representation of abiotic environmental factors but disparities between data and models for biochemical reactivity and diversity, organo‐mineral and ‐metal stabilization, and biodegradability of plant inputs, particularly with respect to SOM destabilization for the latter two controls. More empirical research on physical inaccessibility and microbial physiology and morphology is needed to deepen our understanding of these critical SOM controls and improve their model representation. The SOM controls are highly interactive and also present some inconsistencies which may be reconciled by considering methodological limitations or temporal and spatial variation. Future conceptual frameworks must simultaneously refine our understanding of these six SOM controls at various spatial and temporal scales and within a hierarchical structure, while incorporating emerging insights. This will advance our ability to accurately predict SOM dynamics.
In this paper empirical evidence is presented that between 0.4 and 5 AU the thermal portion (but not all) of the solar wind electron population obeys a polytrope relation. It is also shown that this functional relationship is a member of a broader class of possible laws required of a steady state, fully ionized plasma whose proper frame electric field is dominated by the polarization electric field. The empirically determined, thermodynamically interesting value of the polytrope index (1.175) is virtually that predicted (1.16) by the theoretical considerations of Scudder and Olbert (1979). Strong, direct, empirical evidence for the nearly isothermal behavior of solar wind electrons as has been indirectly argued in the literature for some time is provided.