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DOE OSTI2022

Peak Rain Rate Sensitivity to Observed Cloud Condensation Nuclei and Turbulence in Continental Warm Shallow Clouds During CACTI

Abstract Warm clouds strongly affect Earth's energy budget but remain imperfectly represented in climate models, partly due to the complexity and covariability of relevant processes influencing warm rain. This work presents a detailed analysis of different factors affecting rain rate peak intensity (RR) in continental warm clouds. Clouds were identified with vertically pointing radar and lidar observations and categorized via a temperature‐based cloud type classification algorithm from which warm clouds were isolated. Observations and retrievals of liquid water path (LWP), cloud condensation nuclei concentration (N CCN ), cloud depth, and cloud duration of more than 3,000 separate warm clouds sampled during the Cloud, Aerosol, and Complex Terrain Interactions (CACTI) field campaign are analyzed in this work. Multiple linear regression (MLR) and random forest (RF) models are applied to assess the relative impact of these variables on RR. Overall, RR tends to increase as cloud depth, LWP, and cloud duration increase, or N CCN decreases. Cloud depth affects RR the most while N CCN impacts it the least. When considering over 170 warm clouds observed at least 1 hr in which in‐cloud turbulence is retrieved, the effect of N CCN on RR remains most likely suppressive, but it is not significant at a 75% level for MLR and is highly uncertain for RF. The impact of in‐cloud turbulence depends on the moment and location it is sampled. Cloud base turbulence around the time of RR suppresses RR, while cloud top turbulence effects are inconclusive. Possible difficulties in isolating robust CCN and turbulence effects on RR are discussed.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2020

Drizzle, Turbulence, and Density Currents Below Post Cold Frontal Open Cellular Marine Stratocumulus Clouds

Nine cases of postcold frontal marine stratocumulus clouds exhibiting open cellular mesoscale organization are analyzed to characterize the drizzle, turbulence, and density currents below them. Data collected by the vertically pointing Doppler cloud radar and multiple lidars part of the Atmospheric Radiation Measurement (ARM) Eastern North Atlantic (ENA) site are used in these analyses. A total of 251 drizzle shafts passed over the site with 76 shafts sampled for more than 15 min by the vertically pointing instruments. On average the drizzle shafts were ~18 km wide with below-cloud drizzle water path of ~40 g m −2 , cloud base rain rate of 7.78 mm day −1 , and cloud base drizzle modal diameter of 393 μm. The widths of the drizzle shafts did not exhibit any relationship with the cloud base rain rate, below-cloud drizzle water path, and the total water removed from the cloud. The downdrafts in the lowest 500 m within the drizzle cells strengthened with increasing cloud base rain rates, while the updrafts within drizzle cells did not exhibit this behavior. On average, the surface air density, pressure, water vapor mixing ratio, and wind speed along the background wind during the drizzle shaft were higher by 1.88 g m −3 , 8.60 Pa, 0.24 g kg −1 , and 1.22 m s −1 , respectively, from their background values. On the other hand, the surface air temperature was lower by 0.43 K during the drizzle shaft than its background value. The coincident measurements highlight the drizzle-turbulence-surface coupling in these cloud systems.

59 BASIC BIOLOGICAL SCIENCES↗

NASA NTRSDate not supplied

Standalone Hazard Evaluation and Refinement From Instrument Findings (S.H.E.R.I.F.)

The Standalone Hazard Evaluation From Instrument Findings or SHERIF is a set of novel algorithms and associated framework designed to support the generation of Digital Elevation Maps (DEMs) from multiple LiDAR scans and perform Hazard Detection (HD) and Safe Site Selection with minimal input from other onboard systems. SHERIF can employ several techniques to perform Point Cloud registration(PCR) on disparate LiDAR scans of a planetary surface to generate a DEM which evolves over the course of a trajectory, with a flow designed to enable robustness. The framework also supports a variety of Hazard Detection and Safe Site Selection algorithms which can be run on the evolving DEM being produced. SHERIF features a robust and modular construction, allowing the user a high degree of flexibility in selecting and implementing whichever PCR and HD/SSL algorithms they may prefer, while maintaining the data products and sensor independence of the core SHERIF framework. SHERIF was recently tested in a hardware in the loop simulation at NASA JSC.

Entry Descent and Landing Guidance Navigation Cont↗

NASA NTRS2020

Sensitivities in Satellite Lidar‐Derived Estimates of Daytime Top‐of‐the‐Atmosphere Optically Thin Cirrus Cloud Radiative Forcing: A Case Study

An optically thin cirrus cloud was profiled concurrently with nadir‐pointing 1,064 nm lidars on 11 August 2017 over eastern Texas, including NASA's airborne Cloud Physics Lidar (CPL) and space‐borne Clouds and Aerosol Transport System (CATS) instruments. Despite resolving fewer (37% vs. 94%) and denser (i.e., more emissive) clouds (average cloud optical depth of 0.10 vs. 0.03, respectively), CATS data render a near‐equal estimate of the top‐of‐atmosphere (TOA) net cloud radiative forcing (CRF) versus CPL. The sample‐relative TOA net CRF solved from CPL is 1.39 W/m2, which becomes 1.32 W/m2 after normalizing by occurrence frequency. Since CATS overestimates extinction for this case, the sample‐relative TOA net forcing is ~3.0 W/m2 larger than CPL, with the absolute value reduced to within 0.3 W/m2 of CPL due its underestimation of cloud occurrence. We discuss the ramifications of thin cirrus cloud detectability from satellite and its impact on attempts at TOA CRF closure.

Erica K. Dolinar↗

NASA NTRSDate not supplied

Standalone Hazard Evaluation and Refinement From Instrument Findings (S.H.E.R.I.F.)

The Standalone Hazard Evaluation From Instrument Findings (SHERIF) system is a set of novel algorithms and associated framework designed to support the generation of Digital Elevation Maps (DEMs) from multiple LiDAR scans and perform Hazard Detection (HD) and Safe Site Identification (SSI) with no dependencies on other onboard systems. SHERIF can employ several techniques to perform robust 3D keypoint extraction and Point Cloud registration (PCR) on disparate LiDAR scans of a planetary surface to generate a DEM which evolves over the course of a trajectory. The framework also supports a variety of Hazard Detection and Safe Site Identification algorithms which can be applied to the evolving DEM being produced. SHERIF features a robust and modular construction, allowing the user a high degree of flexibility in selecting and implementing whichever keypoint identificaiton, PCR and HD/SSI algorithms they may prefer, while maintaining the data products and sensor independence of the core SHERIF framework. SHERIF was recently evaluated via simulation and hardware-in-the-loop experimental testing at NASA Johnson Space Center.

hazard detection↗

NASA NTRSDate not supplied

Standalone Hazard Evaluation and Refinement From Instrument Findings (S.H.E.R.I.F.)

hazard detection↗

NASA NTRS2003

Geoscience Laser Altimeter System (GLAS) on the ICESat Mission: Initial Science Measurement Performance

The Geoscience Laser Altimeter System is the space lidar on the NASA ICESat mission. Its design combines an altimeter with 5 cm precision with a laser pointing angle determination system and a dual wavelength cloud and aerosol lidar. GLAS measures the range to the Earth s surface with 1064 nm laser pulses. Each laser pulse produces a precision pointing measurement from the stellar reference system (SRS) and an echo pulse waveform, which permits range determination and waveform spreading analysis. The single shot ranging accuracy is < 10 cm for ice surfaces with slopes < 2 degrees. GLAS also measures atmospheric backscatter profiles at both 1064 and 532 nm. The 1064 nm measurements use an analog Si APD detector and measure the height and profile the backscatter signal from thicker clouds. The measurements at 532 nm use photon counting detectors, and will measure the vertical height distributions of optically thin clouds and aerosol layers Before launch, the measurement performance of GLAS was evaluated using a lidar test instrument called the Bench Check Equipment (BCE). The BCE was developed in parallel with GLAS and served as an inverse altimeter, inverse lidar and a stellar source simulator. It was used to simulate the range of expected optical inputs to the GLAS receiver by illuminating its telescope with simulated background light as well as laser echoes with known powers, energy levels, widths and delay times. The BCE also allowed monitoring of the transmitted laser energy, the angle measurements of the SRS, the co-alignment of the transmitted laser beam to the receiver line of sight, and performance of the flight science algorithms. Performance was evaluated during the GLAS development, before and after environmental tests, and after delivery to the spacecraft. The ICESat observatory was launched into a 94 degree inclination, 590 km altitude circular polar orbit on January 12,2003. Beginning in early February, GLAS was powered on tested in stages. Its 1064 nm optical receiver was evaluated in a several tests using both solar background light and an internal test source. Laser 1 was activated on February 20,2003. GLAS operated with Laser 1 for 38 continuous days on orbit using its 1064 nm receiver channel, producing over 130 million individual laser measurements of the Earth s surface and atmosphere. These nadir-pointed measurements fell along the ICESat s ground track, and spanned more than 4 cycles of the initial 8-day ICESat repeat orbit. The initial GLAS measurement set shows strong echo pulses from ranging to the surface topography, oceans, ice sheets and cloud tops, as well as profiles of clouds and aerosols. The GLAS measurements have unprecedented vertical and angular resolution, and show nearly continuous height profiles of ice, land and ocean surfaces or cloud tops, as well profiles of backscatter from thin clouds and aerosol layers. Examples of these GLAS measurements and an initial assessment of its science measurement performance will be presented.

Abshire, James B.↗

DOE OSTI2021

LiDAR For Heliostat Optical Assessment (Final Report)

This project has sought to develop new uses for surveying-quality Light Detecting and Ranging (LiDAR) 3D scanning sensors in the automatic/autonomous assessment of optical errors in largescale concentrating solar power heliostat fields. Past experiments have demonstrated the ability of a 3D-LiDAR to acquire highly accurate point cloud measurements across several Sandia NSTTF heliostats. The goal of this project is to expand upon this work to see if and how it can be used in large commercial heliostat fields.

14 SOLAR ENERGY↗

DOE OSTI2024

Convergence of Emerging Technologies - Blickfeld Test Results

The Blickfeld Cube 1 Lidar is an inexpensive flash lidar being developed for autonomous navigation with an advertised maximum range of 75 meters that uses a Class 1 eye-safe laser. Figure 1 shows an example of the installation of the Cube 1 lidar and Figure 2 shows an example of the point cloud generated, with the red circle indicating an intruder. The Cube 1 lidar has a software adjustable field of view and as many as 5 lidars can be stitched together. (Figure 2 shows two Cube 1 lidars stitched together.)

47 OTHER INSTRUMENTATION↗

NASA NTRS2003

Ice-Crystal Fallstreaks from Supercooled Liquid Water Parent Clouds

On 31 December 2001, ice-crystal fallstreaks (e.g., cirrus uncinus, or colloquially "Mare's Tails") from supercooled liquid water parent clouds were observed by ground-based lidars pointed vertically from the Atmospheric Radiation Measurement Southern Great Plains (SGP) facility near Lamont, Oklahoma. The incidence of liquid phase cloud with apparent ice-phase precipitation is investigated. Scenarios for mixed-phase particle nucleation, and fallstreak formation and sustenance are discussed. The observations are unique in the context of the historical reverence given to the commonly observed c h s uncinus fallstreak (wholly ice) versus this seemingly contradictory coincidence of liquid water begetting ice-crystal streaks.

Campbell, James R.↗

DOE OSTI2021

Detection of Outliers in LiDAR Data Acquired by Multiple Platforms over Sorghum and Maize

High-resolution point cloud data acquired with a laser scanner from any platform contain random noise and outliers. Therefore, outlier detection in LiDAR data is often necessary prior to analysis. Applications in agriculture are particularly challenging, as there is typically no prior knowledge of the statistical distribution of points, plant complexity, and local point densities, which are crop-dependent. The goals of this study were first to investigate approaches to minimize the impact of outliers on LiDAR acquired over agricultural row crops, and specifically for sorghum and maize breeding experiments, by an unmanned aerial vehicle (UAV) and a wheel-based ground platform; second, to evaluate the impact of existing outliers in the datasets on leaf area index (LAI) prediction using LiDAR data. Two methods were investigated to detect and remove the outliers from the plant datasets. The first was based on surface fitting to noisy point cloud data via normal and curvature estimation in a local neighborhood. The second utilized the PointCleanNet deep learning framework. Both methods were applied to individual plants and field-based datasets. To evaluate the method, an F-score was calculated for synthetic data in the controlled conditions, and LAI, the variable being predicted, was computed both before and after outlier removal for both scenarios. Results indicate that the deep learning method for outlier detection is more robust than the geometric approach to changes in point densities, level of noise, and shapes. The prediction of LAI was also improved for the wheel-based vehicle data based on the coefficient of determination (R2) and the root mean squared error (RMSE) of the residuals before and after the removal of outliers.

36 MATERIALS SCIENCE↗

DOE OSTI2024

Angle Assessment for Upper Limb Rehabilitation: A Novel Light Detection and Ranging (LiDAR)-Based Approach

The accurate measurement of joint angles during patient rehabilitation is crucial for informed decision making by physiotherapists. Presently, visual inspection stands as one of the prevalent methods for angle assessment. Although it could appear the most straightforward way to assess the angles, it presents a problem related to the high susceptibility to error in the angle estimation. In light of this, this study investigates the possibility of using a new approach to angle calculation: a hybrid approach leveraging both a camera and LiDAR technology, merging image data with point cloud information. This method employs AI-driven techniques to identify the individual and their joints, utilizing the cloud-point data for angle computation. The tests, considering different exercises with different perspectives and distances, showed a slight improvement compared to using YOLO v7 for angle calculation. However, the improvement comes with higher system costs when compared with other image-based approaches due to the necessity of equipment such as LiDAR and a loss of fluidity during the exercise performance. Therefore, the cost–benefit of the proposed approach could be questionable. Nonetheless, the results hint at a promising field for further exploration and the potential viability of using the proposed methodology.

Klein, Luan C. (ORCID:000000016306574X)↗

DOE OSTI2020

H-Canyon exhaust tunnel LiDAR data request for information review and release

This request is to release LiDAR data files acquired by SRNL R&D Engineering and H-Area Operations and Engineering while performing scans of the interior of the H-Canyon Exhaust tunnel. LiDAR data includes 3-dimensional (3D) point cloud data sets and panoramic digital images of the interior tunnel wall surfaces. Presently two deployments have been completed, the first in November 2019, Fig. 1, and the second in June of 2020. This request is for the release of the data collected during those two deployments. Detailed information on the deployment and data collected can be found in SRS document C-ESR-H-00072, “November 2019 Initial Deployment of LiDAR”. It is planned to perform ongoing scans at approximately 6-month intervals, the purpose of the deployments is to evaluate the usefulness of the data collected to enable quantitative measurements such as tunnel dimensions and rate of surface erosion and as a precursor to a potential deployment of a LiDAR system on the tunnel inspection crawler.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRSDate not supplied

Cross-Calibration of GNC and OLA LIDAR Systems Onboard OSIRIS-REx

The Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) mission carried two distinct light detection and ranging (LIDAR) systems: A scanning LIDAR called OSIRIS-REx Laser Altimeter (OLA) as part of the science payload, and a flash LIDAR system has part of the Guidance, Navigation, & Control (GNC) subsystem to serve as a navigation sensor during TAG. This presents a unique opportunity to compare the performance of the two LIDAR systems in close proximity to a small asteroid body. During the Orbital B mission phase, between June to August 2019, the OSIRIS-REx spacecraft orbited Bennu in a near-circular terminator orbit during which the altitude above the surface varied between 645 m to 740 m. Over five-week period observations were recorded with the OLA instrument that were subsequently used to construct a global digital terrain map (DTM) with a resolution of 5 cm and accuracy of ±20 cm. This model provides an excellent reference for assessing the performance of the GNC LIDAR system. Two different GNC LIDAR checkout activities were also conducted during the Orbital B phase: A limb-crossing check-out featured a series of slews to collect GNC LIDAR data across varying ranges and phase angles and operate the automatic gain control modes of the device; An OLA-GNC LIDAR cross calibration was designed to collect data from both the OLA and GNC LIDAR devices with overlapping footprints while the spacecraft was pointed nadir. This paper compares the on-orbit performance observed during the cross-calibration activity. The OLA-based global DTM and point clouds are used to evaluate the GNC LIDAR not available during previous analysis. The GNC LIDAR measurements were found to be well within accuracy and precision specified for the instrument, but much noisier than the measurements from OLA within this operating regime.

Jason M Leonard↗

NASA NTRS2022

Quantifying Mangrove Canopy Regrowth and Recovery After Hurricane Irma With Large-Scale Repeat Airborne Lidar in the Florida Everglades

Hurricane Irma caused significant damages to mangrove forested wetlands in south Florida, including defoliation, tree snapping, and uprooting. Previous studies have used optical satellite imagery to estimate large-scale forest disturbance and resilience patterns. However, satellite images alone cannot provide measurements of vertical mangrove structure. In this study, we used dense point cloud data collected by NASA Goddard’s LiDAR, Hyperspectral, and Thermal (G-LiHT) airborne imager before (March 2017) and after (December 2017 and March 2020) Hurricane Irma to quantify the recovery, or lack thereof, of the three-dimensional (3D) mangrove forest structure. Recent resilience and vulnerability models developed from Landsat time series following the storm were used to group the lidar data into distinct disturbance-recovery classes. We then analyzed lidar-based forest canopy within each of the recovery classes to test a suite of forest structural characteristics. Our results indicate that 77.0 % of the survey area experienced canopy height loss three months after Hurricane Irma, whereby the majority of canopy height loss occurred in areas with the tallest mangrove forests (i.e., 15–25 m tall). Our analysis shows that the mangrove canopy height in South Florida increased by an average 0.26 m from December 2017 to March 2020, with most of the forest (84.7 % of the survey area) experiencing canopy height regrowth. However, only 38.1 % of the survey area has recovered to pre-storm canopy height. The distribution of canopy height was significantly altered by Hurricane Irma in the low and intermediate resilience classes, but were not significantly different 2.5 years later. Indeed, in areas of low resilience, little to no vertical change has occurred suggesting the absence of canopy regrowth and natural regeneration. Conversely, mangroves in high resilience class, which are dominated by shorter canopies (<5 m), were not heavily damaged by the storm and have maintained the same structural attributes as those before Hurricane Irma. Our findings highlight that hurricane disturbances significantly alter mangrove forest canopy structure, but recovery of vertical structure varies by resilience classes, species composition, and canopy height.

Lidar↗

DOE OSTI2024

AEPF: Attention-Enabled Point Fusion for 3D Object Detection

Current state-of-the-art (SOTA) LiDAR-only detectors perform well for 3D object detection tasks, but point cloud data are typically sparse and lacks semantic information. Detailed semantic information obtained from camera images can be added with existing LiDAR-based detectors to create a robust 3D detection pipeline. With two different data types, a major challenge in developing multi-modal sensor fusion networks is to achieve effective data fusion while managing computational resources. With separate 2D and 3D feature extraction backbones, feature fusion can become more challenging as these modes generate different gradients, leading to gradient conflicts and suboptimal convergence during network optimization. To this end, we propose a 3D object detection method, Attention-Enabled Point Fusion (AEPF). AEPF uses images and voxelized point cloud data as inputs and estimates the 3D bounding boxes of object locations as outputs. An attention mechanism is introduced to an existing feature fusion strategy to improve 3D detection accuracy and two variants are proposed. These two variants, AEPF-Small and AEPF-Large, address different needs. AEPF-Small, with a lightweight attention module and fewer parameters, offers fast inference. AEPF-Large, with a more complex attention module and increased parameters, provides higher accuracy than baseline models. Experimental results on the KITTI validation set show that AEPF-Small maintains SOTA 3D detection accuracy while inferencing at higher speeds. AEPF-Large achieves mean average precision scores of 91.13, 79.06, and 76.15 for the car class’s easy, medium, and hard targets, respectively, in the KITTI validation set. Results from ablation experiments are also presented to support the choice of model architecture.

Chemistry↗

NASA NTRS2013

Heterogeneous Formation of Polar Stratospheric Clouds- Part 1: Nucleation of Nitric Acid Trihydrate (NAT)

Satellite-based observations during the Arctic winter of 2009/2010 provide firm evidence that, in contrast to the current understanding, the nucleation of nitric acid trihydrate (NAT) in the polar stratosphere does not only occur on preexisting ice particles. In order to explain the NAT clouds observed over the Arctic in mid-December 2009, a heterogeneous nucleation mechanism is required, occurring via immersion freezing on the surface of solid particles, likely of meteoritic origin. For the first time, a detailed microphysical modelling of this NAT formation pathway has been carried out. Heterogeneous NAT formation was calculated along more than sixty thousand trajectories, ending at Cloud Aerosol Lidar with Orthogonal Polarization (CALIOP) observation points. Comparing the optical properties of the modelled NAT with these observations enabled a thorough validation of a newly developed NAT nucleation parameterisation, which has been built into the Zurich Optical and Microphysical box Model (ZOMM). The parameterisation is based on active site theory, is simple to implement in models and provides substantial advantages over previous approaches which involved a constant rate of NAT nucleation in a given volume of air. It is shown that the new method is capable of reproducing observed polar stratospheric clouds (PSCs) very well, despite the varied conditions experienced by air parcels travelling along the different trajectories. In a companion paper, ZOMM is applied to a later period of the winter, when ice PSCs are also present, and it is shown that the observed PSCs are also represented extremely well under these conditions.

Hoyle, C. R.↗

DOE OSTI2026

Allometric and Mobile Terrestrial LiDAR Modeling of Aboveground Woody Biomass of Populus in Coppice Production

Poplars ( Populus spp.) and their hybrids are increasingly being grown in coppice production to generate bioenergy feedstocks at frequent intervals. Allometric equations are re-quired to predict aboveground biomass (AGB) of coppiced individuals with minimal field measurements. Likewise, remote sensing tools like LiDAR (light detection and ranging) can be used if models are available to predict AGB from point cloud data. Therefore, this study sought to develop equations to predict dry woody AGB from field measurements and LiDAR data from coppiced poplar field trials containing eastern cottonwood ( P. del-toides ) and hybrid poplar taxa. We found that taxa-specific allometric models containing the summed basal area of the three largest stems in the coppice provided the best predictive model, with stem height and stem count failing to provide additional explanatory power. The best predictive LiDAR-based model was independent of taxa but had slightly lower adjusted R 2 and higher RMSE than the allometric model. It contained four parameters including crown volume, leaf area index, variance of height returns, and the top point density (i.e., density metric 9 or the proportion of points in the highest point interval when the point cloud is evenly divided into ten vertical intervals). In total, these models can be used to quickly and efficiently estimate dry woody AGB of Populus coppice systems for bioenergy feedstock production.

AGB↗