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NASA NTRS2015

Self-Calibration and Laser Energy Monitor Validations for a Double-Pulsed 2-Micron CO2 Integrated Path Differential Absorption Lidar Application

Double-pulsed 2-micron integrated path differential absorption (IPDA) lidar is well suited for atmospheric CO2 remote sensing. The IPDA lidar technique relies on wavelength differentiation between strong and weak absorbing features of the gas normalized to the transmitted energy. In the double-pulse case, each shot of the transmitter produces two successive laser pulses separated by a short interval. Calibration of the transmitted pulse energies is required for accurate CO2 measurement. Design and calibration of a 2-micron double-pulse laser energy monitor is presented. The design is based on an InGaAs pin quantum detector. A high-speed photo-electromagnetic quantum detector was used for laser-pulse profile verification. Both quantum detectors were calibrated using a reference pyroelectric thermal detector. Calibration included comparing the three detection technologies in the single-pulsed mode, then comparing the quantum detectors in the double-pulsed mode. In addition, a self-calibration feature of the 2-micron IPDA lidar is presented. This feature allows one to monitor the transmitted laser energy, through residual scattering, with a single detection channel. This reduces the CO2 measurement uncertainty. IPDA lidar ground validation for CO2 measurement is presented for both calibrated energy monitor and self-calibration options. The calibrated energy monitor resulted in a lower CO2 measurement bias, while self-calibration resulted in a better CO2 temporal profiling when compared to the in situ sensor.

Refaat, Tamer F.↗

NASA NTRS2017

Development and Testing of a Friction-Based Post-Installable Sensor for Subsea Fiber-Optic Monitoring Systems

This paper presents the design and development of a friction-based coupling device for a fiber-optic monitoring system that can be deployed on existing subsea structures. This paper provides a summary of the design concept, prototype development, prototype performance testing, and design refinements of the device. The results of the laboratory testing of the first prototype performed at the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) are included in this paper. Limitations of the initial design were identified and future design improvements were proposed. These new features will enhance the coupling of the device and improve the monitoring system measurement capabilities. A major challenge of a post-installed instrumentation monitoring system is to ensure adequate coupling between the instruments and the structure of interest for reliable measurements. Friction-based coupling devices have the potential to overcome coupling limitations caused by marine growth and soil contamination on subsea structures, flowlines or risers. The work described in this paper investigates the design of a friction-based coupling device (friction clamp), which is applicable for pipelines and structures that are suspended in the water column and those that are resting on the seabed. The monitoring elements consist of fiber-optic sensors that are bonded to a metal clamshell with a high-friction coating. The friction clamp has a single hinge design to facilitate the operation of the clamp and dual rows of opposing fasteners to distribute the clamping force on the structure. The friction clamp can be installed by divers in shallow depths or by remotely operated vehicles in deep-water applications. NASA-JSC was involved in the selection and testing of the friction coating, and in the design and testing of the prototype clamp device. Four-inch diameter and eight-inch diameter sub-scale friction clamp prototypes were built and tested to evaluate the strain measuring capabilities of the design under different loading scenarios. The testing revealed some limitations of the initial design concept, and subsequent refinements were explored to improve the measurement performance of the system. This study was part of a collaboration between NASA-JSC and Astro Technology, Inc. within a study called Clear Gulf. The primary objective of the Clear Gulf study is to develop advanced instrumentation technologies that will improve operational safety and reduce the risk of hydrocarbon spillage. NASA provided unique insights, expansive test facilities, and technical expertise to advance these technologies that would benefit the environment, the public, and commercial industries.

Bentley, Nicole↗

NASA NTRS2017

US Navy Submarine Sea Trial of NASA developed Multi-Gas Monitor

During a successful 2 year technology demonstration of the tunable diode laser spectroscopy (TDLS) based Multi-Gas Monitor (MGM) on the International Space Station (ISS), we began discussing with the US Navy the possibility of conducting a sea trial of an MGM on a submarine. The sea trial would also include a gas chromatography/differential mobility spectrometer based Air Quality Monitor (AQM), which is used operationally on ISS for select volatile organic compounds. AQM results will be the subject of a separate paper. The Navy’s interest in testing NASA equipment is in a planned update to the environmental monitoring equipment used aboard submarines. NASA’s goal is studying submarines as closed environment analogs to spacecraft. MGM’s core technology was developed by Vista Photonics Inc using Small Business Innovation Research (SBIR) grants and expanded for various applications using NASA program funding. The MGM measures oxygen, carbon dioxide, ammonia and water vapor in ambient air, displays concentrations with temperature and pressure, and stores 30 second moving averages. The sea trial involves colocating the instrument with the Central Air Monitor (CAM) and connecting it to rack power prior to departure, and letting it run during the entire sea trial of a few months duration. All data stored is inside MGM, with no connection to the vessel data bus. Crew intervention is limited to checking MGM periodically to see that it is working and power cycling if the display is OFF. After the trial is over, the unit with its data will be retrieved. Post sea trial calibration check and data analysis are planned and results will be compared with both CAM data and results from MGM’s ISS technology demonstration.

Mudgett, Paul D.↗

NASA NTRS2017

Development and Testing of a Friction-Based Post-Installable Sensor for Subsea Fiber-Optic Monitoring System

Bentley, Nicole L.↗

NASA NTRS2017

US Navy Submarine Sea Trial of NASA developed Multi-Gas Monitor

During a successful 2 year technology demonstration of the tunable diode laser spectroscopy (TDLS) based Multi-Gas Monitor (MGM) on the International Space Station (ISS), we began discussing with the US Navy the possibility of conducting a sea trial of an MGM on a submarine. The sea trial would also include a gas chromatography/differential mobility spectrometer based Air Quality Monitor (AQM), which is used operationally on ISS for volatile organic compound analysis. AQM preparation and results will be the subject of a separate paper. The Navy's interest in testing NASA equipment in general relates to their ongoing search for better air monitoring technology. NASA's goal is studying submarines as closed environment analogs to spacecraft. MGM's core technology was developed by Vista Photonics Inc. using Small Business Innovation Research (SBIR) grants and expanded for various applications using NASA program funding. The MGM measures oxygen, carbon dioxide, ammonia and water vapor in ambient air, displays concentrations with temperature and pressure, and stores 30 second moving averages. The sea trial involves collocating the instrument with the Central Atmosphere Monitoring System (CAMS Mk II) of the submarine, connecting it to rack power prior to departure, and letting it run during the entire 90 day patrol. All data is stored within MGM, with no connection to the vessel data bus. Crew intervention is limited to checking MGM periodically to see that it is working and power cycling if necessary. After the trial is over, the unit with its data will be retrieved. Post sea trial calibration check and data analysis are planned and results will be compared with both CAMS Mk II data and results from MGM's ISS technology demonstration. Since the sea trial itself has been delayed, this paper describes the preparation of MGM for the sea trial and also provides a summary of the latest data from the ISS MGM technology demonstration.

Mudgett, Paul D.↗

NASA NTRS2016

Tropospheric Emissions: Monitoring of Pollution (TEMPO)

TEMPO (Tropospheric Emissions: Monitoring of Pollution) was selected in 2012 by NASA as the first Earth Venture Instrument, for launch between 2018 and 2021. It will measure atmospheric pollution for greater North America from space using ultraviolet and visible spectroscopy. TEMPO observes from Mexico City, Cuba, and the Bahamas to the Canadian oil sands, and from the Atlantic to the Pacific, hourly and at high spatial resolution (approximately 2.1 kilometers N/S by 4.4 kilometers E/W at 36.5 degrees N, 100 degrees W). TEMPO provides a tropospheric measurement suite that includes the key elements of tropospheric air pollution chemistry, as well as contributing to carbon cycle knowledge. Measurements are made hourly from geostationary (GEO) orbit, to capture the high variability present in the diurnal cycle of emissions and chemistry that are unobservable from current low-Earth orbit (LEO) satellites that measure once per day. The small product spatial footprint resolves pollution sources at sub-urban scale. Together, this temporal and spatial resolution improves emission inventories, monitors population exposure, and enables effective emission-control strategies. TEMPO takes advantage of a commercial GEO host spacecraft to provide a modest cost mission that measures the spectra required to retrieve ozone (O3), nitrogen dioxide (NO2), sulfur dioxide (SO2), formaldehyde (H2CO), glyoxal (C2H2O2), bromine monoxide (BrO), IO (iodine monoxide),water vapor, aerosols, cloud parameters, ultraviolet radiation, and foliage properties. TEMPO thus measures the major elements, directly or by proxy, in the tropospheric O3 chemistry cycle. Multi-spectral observations provide sensitivity to O3 in the lowermost troposphere, substantially reducing uncertainty in air quality predictions. TEMPO quantifies and tracks the evolution of aerosol loading. It provides these near-real-time air quality products that will be made publicly available. TEMPO will launch at a prime time to be the North American component of the global geostationary constellation of pollution monitoring together with the European Sentinel-4 (S4) and Korean Geostationary Environment Monitoring Spectrometer (GEMS) instruments.

tropospheric measurement suite↗

NASA NTRS2017

Development and Testing of a Friction-Based Post-Installable Fiber-Optic Monitoring System for Subsea Applications

This paper presents the design and development of a friction-based coupling device for a fiber-optic monitoring system capable of measuring pressure, strain, and temperature that can be deployed on existing subsea structures. A summary is provided of the design concept, prototype development, prototype performance testing, and subsequent design refinements of the device. The results of laboratory testing of the first prototype performed at the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) are also included. Limitations of the initial concept were identified during testing and future design improvements were proposed and later implemented. These new features enhance the coupling of the sensor device and improve the monitoring system measurement capabilities. A major challenge of a post-installed instrumentation monitoring system is to ensure adequate coupling between the instruments and the structure of interest for reliable measurements. Friction-based devices have the potential to overcome coupling limitations caused by marine growth and soil contamination on flowlines, risers, and other subsea structures. The work described in this paper investigates the design and test of a friction-based coupling device (herein referred to as a friction clamp) which is suitable for pipelines and structures that are suspended in the water column as well as for those that are resting on the seabed. The monitoring elements consist of fiberoptic sensors that are bonded to a stainless steel clamshell assembly with a high-friction surface coating. The friction clamp incorporates a single hinge design to facilitate installation of the clamp and dual rows of opposing fasteners to distribute the clamping force along the structure. The friction clamp can be modified to be installed by commercial divers in shallow depths or by remotely operated vehicles in deep-water applications. NASA-JSC was involved in the selection and testing of the friction coating, and in the design and testing of the prototype clamp device. Four-inch diameter and eight-inch diameter sub-scale friction clamp prototypes were built and tested to evaluate the strain measuring capabilities of the design under different loading scenarios. The testing revealed some limitations of the initial design concept, and subsequent refinements were explored to improve the measurement performance of the system. This study was part of a collaboration between NASA-JSC and Astro Technology Inc. within a study called Clear Gulf. The primary objective of the Clear Gulf study is to develop advanced instrumentation technologies that will improve operational safety and reduce the risk of hydrocarbon spillage. NASA provided unique insights, expansive test facilities, and technical expertise to advance technologies that will benefit the environment, the public, and commercial industries.

Bentley, Nicole L.↗

NASA NTRS2017

Preparation of the NASA Air Quality Monitor for a U.S. Navy Submarine Sea Trial

For the past 4 years, the Air Quality Monitor (AQM) has been the operational instrument for measuring trace volatile organic compounds on the International Space Station (ISS). The key components of the AQM are the inlet preconcentrator, the gas chromatograph (GC), and the differential mobility spectrometer. Onboard the ISS are two AQMs with different GC columns that detect and quantify 22 compounds. The AQM data contributes valuable information to the assessment of air quality aboard ISS for each crew increment. The US Navy is looking to update its submarine air monitoring suite of instruments and the success of the AQM on ISS has led to a jointly planned submarine sea trial of a NASA AQM. In addition to the AQM, the Navy is also interested in the Multi-Gas Monitor (MGM), which measures major constituent gases (oxygen, carbon dioxide, water vapor, and ammonia). A separate paper will present the MGM sea trial preparation and the analysis of most recent ISS data. A prototype AQM, which is virtually identical to the operational AQM, has been readied for the sea trial. Only one AQM will be deployed during the sea trial, but this is sufficient for NASA purposes and to detect the compounds of interest to the US Navy for this trial. The data from the sea trial will be compared to data from archival samples collected before, during, and after the trial period. This paper will start with a brief history of past collaborations between NASA and the U.S. and U.K. navies for trials of air monitoring equipment. An overview of the AQM technology and protocols for the submarine trial will be presented. The majority of the presentation will focus on the AQM preparation and a summary of available data from the trial.

Limero, Thomas↗

NASA NTRS2017

A Piezoelectric Passive Wireless Sensor for Monitoring Strain

Interest in passive wireless sensing has grown over the past few decades to meet demands in structural health monitoring.(Deivasigamani et al., 2013; Wilson and Juarez, 2014) This work describes a passive wireless sensor for monitoring strain, which does not have an embedded battery or chip. Without an embedded battery, the passive wireless sensor has the potential to maintain its functionality over long periods in remote/harsh environments. This work also focuses on monitoring small strain (less than 1000 micro-ɛ). The wireless sensing system includes a reader unit, a coil-like transponder, and a sensing unit. It operates in the Megahertz (MHz) frequency range, which allows for a few centimeters of separation between the reader and sensing unit during measurements. The sensing unit is a strain-sensitive piezoelectric resonator that maximizes the energy efficiency at the resonance frequency, so it converts nanoscale mechanical variations to detectable differences in electrical signal. In response to an external loading, the piezoelectric sensor breaks from its original electromechanical equilibrium, and the resonant frequency shifts as the system reaches a new balanced equilibrium. In this work, the fixture of the sensing unit is a small, sticker-like package that converts the surface strain of a test material to measurable shifts in resonant frequencies. Furthermore, electromechanical modeling provides a lumped-parameter model of the system to describe and predict the measured wireless signals of the sensor. Detailed characterization demonstrates how this wireless sensor has resolution comparable to that of conventional wired strain sensors for monitoring small strain.

Zou, Xiyue↗

NASA NTRS2018

Real-Time Monitoring and Prediction of Airspace Safety

The U.S. National Airspace System (NAS) has reached an extremely high level of safety in recent years. However, it will only become more difficult to maintain the current level of safety with the forecasted increase in operations, and so the FAA has been making revolutionary changes to the NAS to both expand capacity and ensure safety. Our work complements these efforts by developing a novel model-based framework for real-time monitoring and prediction of the safety of the NAS. Our framework is divided into two parts: (offline) safety analysis and modeling part, and a real-time (online) monitoring and prediction of safety. The goal of the safety analysis task is to identify hazards to flight (distilled from several national databases) and to codify these hazards within our framework such that we can monitor and predict them. From these we define safety metrics that can be monitored and predicted using dynamic models of airspace operations, aircraft, and weather, along with a rigorous, mathematical treatment of uncertainty. We demonstrate our overall approach and highlight the advantages of this approach over the current state-of-the-art through simulated scenarios.

safety metrics↗

NASA NTRS2018

Sensor Integrated Pilot Mask for On-Board, Real-Time, Monitoring of Pilot Breathing Gas

A pilot's job is unique in the demands it places on the human body, and many conditions can seriously affect pilot performance, threatening mission completion and pilot safety. The gas in a flight mask contains key indicators of the pilot's physiological state, including oxygen inhaled and carbon dioxide exhaled, which can signal hypoxia, hyperoxia, hypocapnia, and hypercapnia. A fiber optic-based sensor system, integrated into the pilot mask, has been developed to monitor in real time, during flight, the pilot breathing gas levels. Monitoring the partial pressure of oxygen and carbon dioxide in the pilot mask supports real-time closed loop control of the on-board oxygen generation system, based on a direct reading of what the pilot is actually breathing. The pilot Mask Sensor (MASES) system incorporates luminescence sensors for pO2, pCO2, relative humidity, pressure, and temperature in a compact probe in the pilot mask; it is based on sensor technology developed for gas monitoring in space suit systems, in work supported by NASA under the Small Business Innovation Research program. Relevant requirements for the MASES system include sensor operation while wet, operation at reduced pressure, ability to withstand rapid decompression, operation in a pure oxygen atmosphere, low power consumption, a compact readout unit, and flexible miniature sensors; many of these requirements are shared with gas monitors in space suits. Data are presented from tests conducted with human subjects in an altitude chamber and in a centrifuge.

Delgado Alonso, Jesus↗

NASA NTRS2019

Monitoring Volcanic Eruptions by OMI/OMPS, ASTER, and MERRA-2

Volcanic lava flows and/or the gas eruptions are the most common characteristics that can be remotely monitored with satellite technology in the global perspective and on different timescales. Atmospheric Sulfur Dioxide (SO2), one of the most abundant gases from volcanic eruptions apart from atmospheric common gases Carbon Dioxide and water vapor, can be directly detected by space-based sensors on satellites. The NASA Goddard Earth Sciences Data and Information Services Center (GES DISC) is one of the 12 Distributed Active Archive Centers (DAACs) within NASA's Earth Observing System Data and Information System (EOSDIS), which archives SO2 data sets from the Nimbus-7 Total Ozone Mapping Spectrometer (TOMS) in 1978, till the ongoing Ozone Monitoring Instrument (OMI) on NASA's EOS-Aura satellite, the Ozone Mapping Profiler Suite (OMPS) Nadir Mapper (NM) on both the Suomi National Polar-Orbiting Partnership (Suomi-NPP or SNPP) and the Joint Polar-orbiting Satellite System-1 (JPSS-1) satellites, into the future JPSS missions. In addition to the standard OMI/Aura and OMPS/S-NPP SO2 products, SO2 products created under the charter of the Making Earth System Data Records for Use in Research Environments (MEaSUREs) project, are also archived at GES DISC, through which NASA enacts to expand understanding the Earth system using consistent data records. The Land Processes Distributed Active Archive Center (LP DAAC) is another EOSDIS's DAAC that provides land data products and operates as a partnership with the U.S. Geological Survey (USGS). The LP DAAC has been archiving the satellite imagery from the Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) aboard NASA's EOS-Terra satellite, a high spatial resolution (15 meters) and 14 band multispectral instrument. The ASTER imagery is one of the land products contributing to the application for monitoring hot spots and land terrain changes caused by volcanic eruption events. The data potential in GES DISC and LP DAAC to monitor volcanic sources of SO2 and the influence of wind fields on the gas plume spread will be demonstrated with the most recent 2018 May-July Kilauea Volcano eruption.

Zeng, Jian↗

NASA NTRS2019

An Integrated Approach to Weather Radar Calibration and Monitoring Using Ground Clutter and Satellite Comparisons

The stability and accuracy of weather radar reflectivity calibration are imperative for quantitative applications, such as rainfall estimation, severe weather monitoring and nowcasting, and assimilation in numerical weather prediction models. Various radar calibration and monitoring techniques have been developed, but only recently have integrated approaches been proposed, that is, using different calibration techniques in combination. In this paper the following three techniques are used: 1) ground clutter monitoring, 2) comparisons with spaceborne radars, and 3) the self-consistency of polarimetric variables. These techniques are applied to a C-band polarimetric radar (CPOL) located in the Australian tropics since 1998. The ground clutter monitoring technique is applied to each radar volumetric scan and provides a means to reliably detect changes in calibration, relative to a baseline. It is remarkably stable to within a standard deviation of 0.1 dB (decibels). To obtain an absolute calibration value, CPOL observations are compared to spaceborne radars on board TRMM (Tropical Rainfall Measuring Mission) and GPM (Global Precipitation Measurement) using a volume-matching technique. Using an iterative procedure and stable calibration periods identified by the ground echoes technique, we improve the accuracy of this technique to about 1 dB. Finally, we review the self-consistency technique and constrain its assumptions using results from the hybrid TRMM-GPM and ground echo technique. Small changes in the self-consistency parameterization can lead to 5 dB of variation in the reflectivity calibration. We find that the drop-shape model of Brandes et al. with a standard deviation of the canting angle of 12 degrees best matches our dataset.

Louf, Valentin↗

NASA NTRS2020

Conformance Monitoring in Air Traffic Control

This report consists of a primer on airspace operations and a survey of previous research in the area of conformance monitoring. The report provides an overview of the topics of airspace operations, air navigation services, and conformance monitoring. Airspace operations are described in terms of missions, aircraft, and environments, including surrounding environment and technical operational environment. Air navigation services support flight crews with information and guidance to complete their flight missions safely and efficiently in a shared, dynamic, and possibly unfamiliar operational environment. Conformance monitoring is an air traffic control function to ensure that aircraft in controlled airspace adhere to assigned clearances. The report also includes a survey of previous research in the area of conformance monitoring.

Wilfredo Torres-Pomales↗

NASA NTRS2020

InSAR-based detection method for mapping and monitoring slow-moving landslides in remote regions with steep and mountainous terrain: An application to Nepal

Mapping and monitoring landslides in remote areas with steep and mountainous terrain is logistically challenging, expensive, and time consuming. Yet, in order to mitigate hazards and prevent loss of life in these areas, and to better understand landslide processes, high-resolution measurements of landslide activity are necessary. Satellite-based synthetic aperture radar interferometry (InSAR) provides millimeter-scale measurements of ground surface deformation that can be used to identify and monitor landslides in remote areas where ground-based monitoring techniques are not feasible. Here we present a novel InSAR deformation detection approach, which uses double difference time-series with local and regional spatial filters and pixel clustering methods to identify and monitor slow-moving landslides without making a priori assumptions of the location of landslides. We apply our analysis to freely available Copernicus Sentinel-1 satellite data acquired between 2014 and 2017 centered on the Trishuli River drainage basin in Nepal. We found a minimum of 6 slow-moving landslides that all occur within the Ranimatta lithologic formation (phyllites, metasandstones, meta basics). These landslides have areas ranging from 0.39 to 1.66 sq.km and long-term dry-season displacement rates ranging from 2.1 to 8.8 cm/yr. Due to periods of low coherence during the monsoon season (June – September) each year, and following the 25 April 2015 Mw7.8 Gorkha earthquake, our time series analysis is limited to the 2014-2015 and 2016-2017 dry seasons (September - May). We found that each of the landslides displayed slightly higher rates during the 2014 period, likely as a result of higher cumulative rainfall that fell during the 2014 monsoon season. Although we do not have high quality InSAR data to show the landslide evolution directly following the Gorkha earthquake, the similar rates of movement before (2014-2015) and after (2016-2017) Gorkha suggest the earthquake had negligible long-term impact on these landslides. Our findings highlight the potential for region-wide mapping of slow-moving l and slides using freely available remote sensing data in remote areas such as Nepal and future work will benefit from expanding our methodology to other regions around the world.

Synthetic Aperture Radar↗

NASA NTRSDate not supplied

From Requirements to Autonomous Flight: An Overview of the Monitoring ICAROUS Project

The Independent Configurable Architecture for Reliable Operations of Unmanned Systems(ICAROUS) is a software architecture incorporating a set of algorithms to enable autonomous operations of unmanned aircraft applications. This paper provides an overview of Monitoring ICAROUS, a project whose objective is to provide a formal approach to generating runtime monitors for autonomous systems from requirements written in a structured natural language. This approach integrates FRET, a formal requirement elicitation and authoring tool, and Copilot, a runtime verification framework. FRET is used to specify formal requirements in structured natural language. These requirements are translated into temporal logic formulae. Copilot is then used to generate executable runtime monitors from these temporal logic specifications. The generated monitors are directly integrated into ICAROUS to perform runtime verification during flight.

Formal Methods↗

NASA NTRSDate not supplied

Monitoring ICAROUS: From Requirements to Autonomous Flight

The Independent Configurable Architecture for Reliable Operations of Unmanned Systems (ICAROUS) is a software architecture incorporating a set of algorithms to enable autonomous operations of unmanned aircraft applications. This paper provides an overview of Monitoring ICAROUS, a project whose objective is to provide a formal approach to generating runtime monitors for autonomous systems from requirements written in a structured natural language. This approach integrates FRET, a formal requirement elicitation and authoring tool, and Copilot, a runtime verification framework. FRET is used to specify formal requirements in structured natural language. These requirements are translated into temporal logic formulae. Copilot is then used to generate executable runtime monitors from these temporal logic specifications. The generated monitors are directly integrated into ICAROUS to perform runtime verification during flight.

Formal Methods↗

NASA NTRS2018

Refining the Safety - Liveness Classification of Temporal Properties According to Monitorability

Runtime veriﬁcation is the topic of analyzing execution traces using formal techniques. It includes monitoring the execution of a system against temporal properties, commonly to detect violations. Not every temporal property is fully monitorable however: in some cases, the correctness of the execution does not depend on any ﬁnite preﬁx. We study the connection between monitorability and Lamport’s classiﬁcation of properties to safety and liveness and their dual classes.We reﬁne the deﬁnition of monitorability and provide algorithms to check which verdicts can be expected, a priori and during runtime veriﬁcation.

Peled, Doron↗