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NASA NTRS1992

Passive stereo range imaging for semi-autonomous land navigation

The paper examines the use of stereo vision (SV) for obstacle detection in semiautonomous land navigation. Feature-based and field-based paradigms for SV are reviewed. The paper presents stochastic models and simple, efficient stereo matching algorithms for the field-based approach and describes a near-real-time vision system using these algorithms. Experimental results illustrate aspects of the stochastic models and lead to the first semiautonomous traversals of natural terrain to use SV for obstacle detection.

Matthies, Larry↗

NASA NTRS1990

Performance of a low data rate speech codec for land-mobile satellite communications

In an effort to foster the development of new technologies for the emerging land mobile satellite communications services, JPL funded two development contracts in 1984: one to the Univ. of Calif., Santa Barbara and the other to the Georgia Inst. of Technology, to develop algorithms and real time hardware for near toll quality speech compression at 4800 bits per second. Both universities have developed and delivered speech codecs to JPL, and the UCSB codec was extensively tested by JPL in a variety of experimental setups. The basic UCSB speech codec algorithms and the test results of the various experiments performed with this codec are presented.

Gersho, Allen↗

NASA NTRS2008

Near-Real Time Cloud Retrievals from Operational and Research Meteorological Satellites

A set of cloud retrieval algorithms developed for CERES and applied to MODIS data have been adapted to analyze other satellite imager data in near-real time. The cloud products, including single-layer cloud amount, top and base height, optical depth, phase, effective particle size, and liquid and ice water paths, are being retrieved from GOES- 10/11/12, MTSAT-1R, FY-2C, and Meteosat imager data as well as from MODIS. A comprehensive system to normalize the calibrations to MODIS has been implemented to maximize consistency in the products across platforms. Estimates of surface and top-of-atmosphere broadband radiative fluxes are also provided. Multilayered cloud properties are retrieved from GOES-12, Meteosat, and MODIS data. Native pixel resolution analyses are performed over selected domains, while reduced sampling is used for full-disk retrievals. Tools have been developed for matching the pixel-level results with instrumented surface sites and active sensor satellites. The calibrations, methods, examples of the products, and comparisons with the ICESat GLAS lidar are discussed. These products are currently being used for aircraft icing diagnoses, numerical weather modeling assimilation, and atmospheric radiation research and have potential for use in many other applications.

Minnis, Patrick↗

NASA NTRS1988

An adaptive identification and control scheme for large space structures

A unified identification and control scheme capable of achieving space at form performance objectives under nominal or failure conditions is described. Preliminary results are also presented, showing that the methodology offers much promise for effective robust control of large space structures. The control method is a multivariable, adaptive, output predictive controller called Model Predictive Control (MPC). MPC uses a state space model and input reference trajectories of set or tracking points to adaptively generate optimum commands. For a fixed model, MPC processes commands with great efficiency, and is also highly robust. A key feature of MPC is its ability to control either nonminimum phase or open loop unstable systems. As an output controller, MPC does not explicitly require full state feedback, as do most multivariable (e.g., Linear Quadratic) methods. Its features are very useful in LSS operations, as they allow non-collocated actuators and sensors. The identification scheme is based on canonical variate analysis (CVA) of input and output data. The CVA technique is particularly suited for the measurement and identification of structural dynamic processes - that is, unsteady transient or dynamically interacting processes such as between aerodynamics and structural deformation - from short, noisy data. CVA is structured so that the identification can be done in real or near real time, using computationally stable algorithms. Modeling LSS dynamics in 1-g laboratories has always been a major impediment not only to understanding their behavior in orbit, but also to controlling it. In cases where the theoretical model is not confirmed, current methods provide few clues concerning additional dynamical relationships that are not included in the theoretical models. CVA needs no a priori model data, or structure; all statistically significant dynamical states are determined using natural, entropy-based methods. Heretofore, a major limitation in applying adaptive controllers to LSS problems has been the requirement for accurate models. We feel that MPC coupled with the CVA identification scheme will resolve this limitation. The results are based on research performed under an SBIR grant, administered by the Air Force Office of Scientific Research.

Carroll, J. V.↗

DOE OSTI2020

Systems, methods and computer program products for self-tuning sensor data processing

Systems and methods are disclosed that include tools that utilize Dynamic Detector Tuning (DDT) software that identifies near-optimal parameter settings for each sensor using a neuro-dynamic programming (reinforcement learning) paradigm. DDT adapts parameter values to the current state of the environment by leveraging cooperation within a neighborhood of sensors. The key metric that guides the dynamic tuning is consistency of each sensor with its nearest neighbors: parameters are automatically adjusted on a per station basis to be more or less sensitive to produce consistent agreement of detections in its neighborhood. The DDT algorithm adapts in near real-time to changing conditions in an attempt to automatically self-tune a signal detector to identify (detect) only signals from events of interest. The disclosed systems and methods reduce the number of missed legitimate detections and the number of false detections, resulting in improved event detection.

Draelos, Timothy J.↗

NASA NTRS2022

A NASA-Air Force Precipitation Analysis for Near-Real-Time Operations

This article describes a new precipitation analysis algorithm developed by NASA for time-sensitive operations at the United States Air Force. Implemented as part of the Land Information System—a land modeling and data assimilation software framework—this NASA–Air Force Precipitation Analysis (NAFPA) combines numerical weather prediction model outputs with rain gauge measurements and satellite estimates to produce global, gridded 3-h accumulated precipitation fields at approximately 10-km resolution. Input observations are subjected to quality control checks before being used by the Bratseth analysis algorithm that converges to optimal interpolation. NAFPA assimilates up to 3.5 million observations without artificial data thinning or selection. To evaluate this new approach, a multiyear reanalysis is generated and intercompared with eight alternative precipitation products across the contiguous United States, Africa, and the monsoon region of eastern Asia. NAFPA yields superior accuracy and correlation over low-latency (up to 14 h) alternatives (numerical weather prediction and satellite retrievals), and often outperforms high-latency (up to 3.5 months) products, although the details for the latter vary by region and product. The development of NAFPA offers a high-quality, near-real-time product for use in meteorological, land surface, and hydrological research and applications.

Africa↗

NASA NTRS1986

A preliminary design for flight testing the FINDS algorithm

This report presents a preliminary design for flight testing the FINDS (Fault Inferring Nonlinear Detection System) algorithm on a target flight computer. The FINDS software was ported onto the target flight computer by reducing the code size by 65%. Several modifications were made to the computational algorithms resulting in a near real-time execution speed. Finally, a new failure detection strategy was developed resulting in a significant improvement in the detection time performance. In particular, low level MLS, IMU and IAS sensor failures are detected instantaneously with the new detection strategy, while accelerometer and the rate gyro failures are detected within the minimum time allowed by the information generated in the sensor residuals based on the point mass equations of motion. All of the results have been demonstrated by using five minutes of sensor flight data for the NASA ATOPS B-737 aircraft in a Microwave Landing System (MLS) environment.

Caglayan, A. K.↗

NASA NTRS1987

Future U.S. ocean color missions - OCI, MODIS and HIRIS

NASA has been working to develop an Ocean Color Imager (OCI). The Earth Observing Satellite Company (EOSAT) is considering flying an ocean and land wide-field color instrument which would meet specified requirements on Landsat 6 or 7 planned for launch in 1989 and 1991, respectively. It would provide eight ocean color channels for improved atmospheric correction and in-water algorithms, global coverage and near real-time data for operational uses. In the mid 1990's NASA is planning to fly a Moderate Resolution Imaging Spectrometer (MODIS) and a High Resolution Imaging Spectrometer (HIRIS) as part of the Earth Observing System on the Polar Platform of the Space Station. These instruments are array spectrometers which would provide full spectral resolution in the visible and infrared. This opens the possibility of separating different groups of phytoplankton, suspended sediments and other substances in the water.

Davis, C. O.↗

NASA NTRS2013

Using Remotely Sensed Information for Near Real-Time Landslide Hazard Assessment

The increasing availability of remotely sensed precipitation and surface products provides a unique opportunity to explore how landslide susceptibility and hazard assessment may be approached at larger spatial scales with higher resolution remote sensing products. A prototype global landslide hazard assessment framework has been developed to evaluate how landslide susceptibility and satellite-derived precipitation estimates can be used to identify potential landslide conditions in near-real time. Preliminary analysis of this algorithm suggests that forecasting errors are geographically variable due to the resolution and accuracy of the current susceptibility map and the application of satellite-based rainfall estimates. This research is currently working to improve the algorithm through considering higher spatial and temporal resolution landslide susceptibility information and testing different rainfall triggering thresholds, antecedent rainfall scenarios, and various surface products at regional and global scales.

remote sensing↗

NASA NTRS2008

Improved Surface Parameter Retrievals using AIRS/AMSU Data

The AIRS Science Team Version 5.0 retrieval algorithm became operational at the Goddard DAAC in July 2007 generating near real-time products from analysis of AIRS/AMSU sounding data. This algorithm contains many significant theoretical advances over the AIRS Science Team Version 4.0 retrieval algorithm used previously. Two very significant developments of Version 5 are: 1) the development and implementation of an improved Radiative Transfer Algorithm (RTA) which allows for accurate treatment of non-Local Thermodynamic Equilibrium (non-LTE) effects on shortwave sounding channels; and 2) the development of methodology to obtain very accurate case by case product error estimates which are in turn used for quality control. These theoretical improvements taken together enabled a new methodology to be developed which further improves soundings in partially cloudy conditions. In this methodology, longwave C02 channel observations in the spectral region 700 cm(exp -1) to 750 cm(exp -1) are used exclusively for cloud clearing purposes, while shortwave C02 channels in the spectral region 2195 cm(exp -1) 2395 cm(exp -1) are used for temperature sounding purposes. This allows for accurate temperature soundings under more difficult cloud conditions. This paper further improves on the methodology used in Version 5 to derive surface skin temperature and surface spectral emissivity from AIRS/AMSU observations. Now, following the approach used to improve tropospheric temperature profiles, surface skin temperature is also derived using only shortwave window channels. This produces improved surface parameters, both day and night, compared to what was obtained in Version 5. These in turn result in improved boundary layer temperatures and retrieved total O3 burden.

Susskind, Joel↗

NASA NTRS2007

Improved Atmospheric Soundings and Error Estimates from Analysis of AIRS/AMSU Data

The AIRS Science Team Version 5.0 retrieval algorithm became operational at the Goddard DAAC in July 2007 generating near real-time products from analysis of AIRS/AMSU sounding data. This algorithm contains many significant theoretical advances over the AIRS Science Team Version 4.0 retrieval algorithm used previously. Three very significant developments of Version 5 are: 1) the development and implementation of an improved Radiative Transfer Algorithm (RTA) which allows for accurate treatment of non-Local Thermodynamic Equilibrium (non-LTE) effects on shortwave sounding channels; 2) the development of methodology to obtain very accurate case by case product error estimates which are in turn used for quality control; and 3) development of an accurate AIRS only cloud clearing and retrieval system. These theoretical improvements taken together enabled a new methodology to be developed which further improves soundings in partially cloudy conditions, without the need for microwave observations in the cloud clearing step as has been done previously. In this methodology, longwave C02 channel observations in the spectral region 700 cm-' to 750 cm-' are used exclusively for cloud clearing purposes, while shortwave C02 channels in the spectral region 2195 cm-' to 2395 cm-' are used for temperature sounding purposes. The new methodology for improved error estimates and their use in quality control is described briefly and results are shown indicative of their accuracy. Results are also shown of forecast impact experiments assimilating AIRS Version 5.0 retrieval products in the Goddard GEOS 5 Data Assimilation System using different quality control thresholds.

Susskind, Joel↗

DOE OSTI2022

Performance of New Near-Real-Time PERSIANN Product (PDIR-Now) for Atmospheric River Events over the Russian River Basin, California

Most heavy precipitation events and extreme flooding over the U.S. Pacific coast can be linked to prevalent atmospheric river (AR) conditions. Thus, reliable quantitative precipitation estimation with a rich spatiotemporal resolution is vital for water management and early warning systems of flooding and landslides over these regions. At the same time, high-quality near-real-time measurements of AR precipitation remain challenging due to the complex topographic features of land surface and meteorological conditions of the region: specifically, orographic features occlude radar measurements while infrared-based algorithms face challenges, differentiating between both cold brightband (BB) precipitation and the warmer nonbrightband (NBB) precipitation. It should be noted that the latter precipitation is characterized by greater orographic enhancement. In this study, we evaluate the performance of a recently developed near-real-time satellite precipitation algorithm: Precipitation Estimation from Remotely Sensed Information Using Artificial Neural Networks (PERSIANN) Dynamic Infrared–Rain Rate-Now (PDIR-Now). This model is primarily dependent on infrared information from geostationary satellites as input; consequently, PDIR-Now has the advantage of short data latency, 15–60-min delay between observation to precipitation product delivery. The performance of PDIR-Now is analyzed with a focus on AR-related events for cases dominated by NBB and BB precipitation over the Russian River basin. In our investigations, we utilize S-band (3-GHz) precipitation profilers with Joss/Parsivel disdrometer measurements at the Middletown and Santa Rosa stations to classify BB and NBB precipitation events. In general, our analysis shows that PDIR-Now is more skillful in retrieving precipitation rates over both BB and NBB events across the topologically complex study area as compared to PERSIANN-Cloud Classification System (CCS). Also, we discuss the performance of well-known operational near-real-time precipitation products from 2017 to 2019. Conventional categorical and volumetric categorical indices, as well as continuous statistical metrics, are used to show the differences between various high-resolution precipitation products such as Multi-Radar Multi-Sensor (MRMS).

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1990

Predictive sensor method and apparatus

A predictive algorithm is used to determine, in near real time, the steady state response of a slow responding sensor such as hydrogen gas sensor of the type which produces an output current proportional to the partial pressure of the hydrogen present. A microprocessor connected to the sensor samples the sensor output at small regular time intervals and predicts the steady state response of the sensor in response to a perturbation in the parameter being sensed, based on the beginning and end samples of the sensor output for the current sample time interval.

Nail, William L.↗

NASA NTRS2019

An Automatic Light Rain Detection Algorithm on NASA MPLNET Lidar Observations in the Frame of WMO GALION Project

The water cycle strongly influences life on Earth. In particular, the precipitation modifies the atmospheric column thermodynamics through the process of evaporation and serves as a proxy for latent heat modulation. For this reason, a correct precipitation parameterization (especially low-intensity precipitation) at global scale, bedsides improving our understanding of the hydrological cycle, it is crucial to reduce the associated uncertainty of the global climate models to correctly forecast future scenarios, i.e. to apply fast mitigation strategies. In this study we developed an algorithm to automatically detect precipitation from lidar measurements obtained by the National and Aeronautics Space Administration (NASA) Micropulse lidar network (MPLNET) permanent observational site in Goddard. The algorithm, once full operational, will deliver in Near Real Time (latency 1.5h) a new rain mask product that will be publicly available on MPLNET website as part of the new Version 3 Level 1.5 data. The methodology, based on an image processing technique, can detect only light precipitation events (defined by intensity and duration) as the morphological filters used through the detection process are applied on the lidar volume depolarization ratio range corrected composite images, i.e. heavy rain events are unusable as the lidar signal is completely extinguished after few meters in the precipitation or no signal detected because of the water accumulated on the receiver optics. Results from the algorithm, besides filling a gap in precipitation and virga detection by radars, are of particular interest for the scientific community because will help to better understand long-term aerosol-cloud interactions and aerosol atmospheric removal (scavenging effect) by rain as multi-year database being available for several MPLNET permanent observational sites across the globe. Moreover, we developed the automatic algorithm at Universitat Politecnica de Catalunya (UPC) Barcelona, the unique permanent observation station member of MPLNET and the European Aerosol Lidar Network (EARLINET) In the future the algorithm can be then easily applied to any other lidar and/or ceilometer network infrastructure in the frame of World Meteorological Organization (WMO) Global Aerosol Watch (GAW) aerosol lidar observation network (GALION)

Simone Lolli↗

NASA NTRS2016

Evaluating a Priori Ozone Profile Information Used in TEMPO Tropospheric Ozone Retrievals

Ozone (O3) is a greenhouse gas and toxic pollutant which plays a major role in air quality. Typically, monitoring of surface air quality and O3 mixing ratios is primarily conducted using in situ measurement networks. This is partially due to high-quality information related to air quality being limited from space-borne platforms due to coarse spatial resolution, limited temporal frequency, and minimal sensitivity to lower tropospheric and surface-level O3. The Tropospheric Emissions: Monitoring of Pollution (TEMPO) satellite is designed to address these limitations of current space-based platforms and to improve our ability to monitor North American air quality. TEMPO will provide hourly data of total column and vertical profiles of O3 with high spatial resolution to be used as a near-real-time air quality product.TEMPO O3 retrievals will apply the Smithsonian Astrophysical Observatory profile algorithm developed based on work from GOME, GOME-2, and OMI. This algorithm uses a priori O3 profile information from a climatological data-base developed from long-term ozone-sonde measurements (tropopause-based (TB) O3 climatology). It has been shown that satellite O3 retrievals are sensitive to a priori O3 profiles and covariance matrices. During this work we investigate the climatological data to be used in TEMPO algorithms (TB O3) and simulated data from the NASA GMAO Goddard Earth Observing System (GEOS-5) Forward Processing (FP) near-real-time (NRT) model products. These two data products will be evaluated with ground-based lidar data from the Tropospheric Ozone Lidar Network (TOLNet) at various locations of the US. This study evaluates the TB climatology, GEOS-5 climatology, and 3-hourly GEOS-5 data compared to lower tropospheric observations to demonstrate the accuracy of a priori information to potentially be used in TEMPO O3 algorithms. Here we present our initial analysis and the theoretical impact on TEMPO retrievals in the lower troposphere.

TEMPO↗

NASA NTRS2004

Selected Flight Test Results for Online Learning Neural Network-Based Flight Control System

The NASA F-15 Intelligent Flight Control System project team developed a series of flight control concepts designed to demonstrate neural network-based adaptive controller benefits, with the objective to develop and flight-test control systems using neural network technology to optimize aircraft performance under nominal conditions and stabilize the aircraft under failure conditions. This report presents flight-test results for an adaptive controller using stability and control derivative values from an online learning neural network. A dynamic cell structure neural network is used in conjunction with a real-time parameter identification algorithm to estimate aerodynamic stability and control derivative increments to baseline aerodynamic derivatives in flight. This open-loop flight test set was performed in preparation for a future phase in which the learning neural network and parameter identification algorithm output would provide the flight controller with aerodynamic stability and control derivative updates in near real time. Two flight maneuvers are analyzed - pitch frequency sweep and automated flight-test maneuver designed to optimally excite the parameter identification algorithm in all axes. Frequency responses generated from flight data are compared to those obtained from nonlinear simulation runs. Flight data examination shows that addition of flight-identified aerodynamic derivative increments into the simulation improved aircraft pitch handling qualities.

Williams-Hayes, Peggy S.↗

NASA NTRS2016

Fast, Safe, Propellant-Efficient Spacecraft Motion Planning Under Clohessy-Wiltshire-Hill Dynamics

This paper presents a sampling-based motion planning algorithm for real-time and propellant-optimized autonomous spacecraft trajectory generation in near-circular orbits. Specifically, this paper leverages recent algorithmic advances in the field of robot motion planning to the problem of impulsively actuated, propellant- optimized rendezvous and proximity operations under the Clohessy-Wiltshire-Hill dynamics model. The approach calls upon a modified version of the FMT* algorithm to grow a set of feasible trajectories over a deterministic, low-dispersion set of sample points covering the free state space. To enforce safety, the tree is only grown over the subset of actively safe samples, from which there exists a feasible one-burn collision-avoidance maneuver that can safely circularize the spacecraft orbit along its coasting arc under a given set of potential thruster failures. Key features of the proposed algorithm include 1) theoretical guarantees in terms of trajectory safety and performance, 2) amenability to real-time implementation, and 3) generality, in the sense that a large class of constraints can be handled directly. As a result, the proposed algorithm offers the potential for widespread application, ranging from on-orbit satellite servicing to orbital debris removal and autonomous inspection missions.

spacecraft relative motio↗

NASA NTRS2016

Evaluating A Priori Ozone Profile Information Used in TEMPO Tropospheric Ozone Retrievals

Ozone (O3) is a greenhouse gas and toxic pollutant which plays a major role in air quality. Typically, monitoring of surface air quality and O3 mixing ratios is primarily conducted using in situ measurement networks. This is partially due to high-quality information related to air quality being limited from space-borne platforms due to coarse spatial resolution, limited temporal frequency, and minimal sensitivity to lower tropospheric and surface-level O3. The Tropospheric Emissions: Monitoring of Pollution (TEMPO) satellite is designed to address these limitations of current space-based platforms and to improve our ability to monitor North American air quality. TEMPO will provide hourly data of total column and vertical profiles of O3 with high spatial resolution to be used as a near-real-time air quality product. TEMPO O3 retrievals will apply the Smithsonian Astrophysical Observatory profile algorithm developed based on work from GOME, GOME-2, and OMI. This algorithm uses a priori O3 profile information from a climatological data-base developed from long-term ozone-sonde measurements (tropopause-based (TB) O3 climatology). It has been shown that satellite O3 retrievals are sensitive to a priori O3 profiles and covariance matrices. During this work we investigate the climatological data to be used in TEMPO algorithms (TB O3) and simulated data from the NASA GMAO Goddard Earth Observing System (GEOS-5) Forward Processing (FP) near-real-time (NRT) model products. These two data products will be evaluated with ground-based lidar data from the Tropospheric Ozone Lidar Network (TOLNet) at various locations of the US. This study evaluates the TB climatology, GEOS-5 climatology, and 3-hourly GEOS-5 data compared to lower tropospheric observations to demonstrate the accuracy of a priori information to potentially be used in TEMPO O3 algorithms. Here we present our initial analysis and the theoretical impact on TEMPO retrievals in the lower troposphere.

ozone↗