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NASA NTRS2010

ICESat Lidar and Global Digital Elevation Models: Application to DESDynI

Geodetic control is extremely important in the production and quality control of topographic data sets, enabling elevation results to be referenced to an absolute vertical datum. Global topographic data with improved geodetic accuracy achieved using global Ground Control Point (GCP) databases enable more accurate characterization of land topography and its change related to solid Earth processes, natural hazards and climate change. The multiple-beam lidar instrument that will be part of the NASA Deformation, Ecosystem Structure and Dynamics of Ice (DESDynI) mission will provide a comprehensive, global data set that can be used for geodetic control purposes. Here we illustrate that potential using data acquired by NASA's Ice, Cloud and land Elevation Satellite (ICEsat) that has acquired single-beam, globally distributed laser altimeter profiles (+/-86deg) since February of 2003 [1, 2]. The profiles provide a consistently referenced elevation data set with unprecedented accuracy and quantified measurement errors that can be used to generate GCPs with sub-decimeter vertical accuracy and better than 10 m horizontal accuracy. Like the planned capability for DESDynI, ICESat records a waveform that is the elevation distribution of energy reflected within the laser footprint from vegetation, where present, and the ground where illuminated through gaps in any vegetation cover [3]. The waveform enables assessment of Digital Elevation Models (DEMs) with respect to the highest, centroid, and lowest elevations observed by ICESat and in some cases with respect to the ground identified beneath vegetation cover. Using the ICESat altimetry data we are developing a comprehensive database of consistent, global, geodetic ground control that will enhance the quality of a variety of regional to global DEMs. Here we illustrate the accuracy assessment of the Shuttle Radar Topography Mission (SRTM) DEM produced for Australia, documenting spatially varying elevation biases of several meters in magnitude.

Carabajal, Claudia C.↗

NASA NTRS2006

Stochastic Evolutionary Algorithms for Planning Robot Paths

A computer program implements stochastic evolutionary algorithms for planning and optimizing collision-free paths for robots and their jointed limbs. Stochastic evolutionary algorithms can be made to produce acceptably close approximations to exact, optimal solutions for path-planning problems while often demanding much less computation than do exhaustive-search and deterministic inverse-kinematics algorithms that have been used previously for this purpose. Hence, the present software is better suited for application aboard robots having limited computing capabilities (see figure). The stochastic aspect lies in the use of simulated annealing to (1) prevent trapping of an optimization algorithm in local minima of an energy-like error measure by which the fitness of a trial solution is evaluated while (2) ensuring that the entire multidimensional configuration and parameter space of the path-planning problem is sampled efficiently with respect to both robot joint angles and computation time. Simulated annealing is an established technique for avoiding local minima in multidimensional optimization problems, but has not, until now, been applied to planning collision-free robot paths by use of low-power computers.

Fink, Wolfgang↗

NASA NTRS2011

Geopotential Field Anomaly Continuation with Multi-Altitude Observations

Conventional gravity and magnetic anomaly continuation invokes the standard Poisson boundary condition of a zero anomaly at an infinite vertical distance from the observation surface. This simple continuation is limited, however, where multiple altitude slices of the anomaly field have been observed. Increasingly, areas are becoming available constrained by multiple boundary conditions from surface, airborne, and satellite surveys. This paper describes the implementation of continuation with multi-altitude boundary conditions in Cartesian and spherical coordinates and investigates the advantages and limitations of these applications. Continuations by EPS (Equivalent Point Source) inversion and the FT (Fourier Transform), as well as by SCHA (Spherical Cap Harmonic Analysis) are considered. These methods were selected because they are especially well suited for analyzing multi-altitude data over finite patches of the earth such as covered by the ADMAP database. In general, continuations constrained by multi-altitude data surfaces are invariably superior to those constrained by a single altitude data surface due to anomaly measurement errors and the non-uniqueness of continuation.

Kim, Jeong Woo↗

NASA NTRS2011

The Global Energy Balance of Titan

We report the first measurement of the global emitted power of Titan. Longterm (2004-2010) observations conducted by the Composite Infrared Spectrometer (CIRS) onboard Cassini reveal that the total emitted power by Titan is (2.84 plus or minus 0.01) x 10(exp 8) watts. Together with previous measurements of the global absorbed solar power of Titan, the CIRS measurements indicate that the global energy budget of Titan is in equilibrium within measurement error. The uncertainty in the absorbed solar energy places an upper limit on the energy imbalance of 5.3%.

Li, Liming↗

NASA NTRS2011

Scatterometer-Calibrated Stability Verification Method

The requirement for scatterometer-combined transmit-receive gain variation knowledge is typically addressed by sampling a portion of the transmit signal, attenuating it with a known-stable attenuation, and coupling it into the receiver chain. This way, the gain variations of the transmit and receive chains are represented by this loop-back calibration signal, and can be subtracted from the received remote radar echo. Certain challenges are presented by this process, such as transmit and receive components that are outside of this loop-back path and are not included in this calibration, as well as the impracticality for measuring the transmit and receive chains stability and post fabrication separately, without the resulting measurement errors from the test set up exceeding the requirement for the flight instrument. To cover the RF stability design challenge, the portions of the scatterometer that are not calibrated by the loop-back, (e.g., attenuators, switches, diplexers, couplers, and coaxial cables) are tightly thermally controlled, and have been characterized over temperature to contribute less than 0.05 dB of calibration error over worst-case thermal variation. To address the verification challenge, including the components that are not calibrated by the loop-back, a stable fiber optic delay line (FODL) was used to delay the transmitted pulse, and to route it into the receiver. In this way, the internal loopback signal amplitude variations can be compared to the full transmit/receive external path, while the flight hardware is in the worst-case thermal environment. The practical delay for implementing the FODL is 100 s. The scatterometer pulse width is 1 ms so a test mode was incorporated early in the design phase to scale the 1 ms pulse at 100-Hz pulse repetition interval (PRI), by a factor of 18, to be a 55 s pulse with 556 s PRI. This scaling maintains the duty cycle, thus maintaining a representative thermal state for the RF components. The FODL consists of an RF-modulated fiber-optic transmitter, 20 km SMF- 28 standard single-mode fiber, and a photodetector. Thermoelectric cooling and insulating packaging are used to achieve high thermal stability of the FODL components. The chassis was insulated with 1-in. (.2.5-cm) thermal isolation foam. Nylon rods support the Micarta plate, onto which are mounted four 5-km fiber spool boxes. A copper plate heat sink was mounted on top of the fiber boxes (with thermal grease layer) and screwed onto the thermoelectric cooler plate. Another thermal isolation layer in the middle separates the fiberoptics chamber from the RF electronics components, which are also mounted on a copper plate that is screwed onto another thermoelectric cooler. The scatterometer subsystem fs overall stability was successfully verified to be calibratable to within 0.1 dB error in thermal vacuum (TVAC) testing with the fiber-optic delay line, while the scatterometer temperature was ramped from 10 to 30 C, which is a much larger temperature range than the worst-case expected seasonal variations.

McWatters, Dalia A.↗

NASA NTRS2011

Assessment of MODIS Thermal Emissive Band On-Orbit Calibration

Sixteen Moderate Resolution Imaging Spectroradiometer thermal emissive bands (TEBs) cover the wavelength from 3.75 to 14.24 m. TEB calibration uses data collected from the detector responses to the onboard blackbody (BB) and space view. The BB was designed to operate either at a constant temperature for detector linear gain calibration or at temperatures varying from ambient ( 270 K) to 315 K for on-orbit characterization of nonlinear coefficients. In this paper, we assess TEB on-orbit calibration performance in two aspects: One is to review the calibration trending on the orbital, daily, and multiyear timescales, and the other is to analyze the on-orbit calibration radiance uncertainty and its impact on the calibration. The calibration trending confirms the detector response dependence on the instrument temperature. The temperature trending and prelaunch characterization provide the basis for determining the calibration radiance source temperature range and uncertainties. An analytical approach was used to assess the impacts of onboard radiance uncertainties. The BB emission uncertainty, resulting from the temperature measurement error and emissivity uncertainty, causes a calibration uncertainty up to 0.3%, a value decreasing with the band wavelength. The BB nonblackness effect is analyzed and found to be insignificant. For the band with the lowest BB emissivity, the nonblackness affects the calibration radiance by less than 0.08%. The cavity emission uncertainty and the scan-mirror emission uncertainty both cause a less than 0.1% calibration uncertainty. The analysis of the nonlinear calibration coefficient uncertainty shows that its effect on the low Earth-view brightness-temperature range varies by band and is generally insignificant.

Chang, Tiejun↗

NASA NTRS2012

Geopotential Field Anomaly Continuation with Multi-Altitude Observations

Kim, Jeong Woo↗

NASA NTRS2012

Estimation of Uncertainties for a Supersonic Retro-Propulsion Model Validation Experiment in a Wind Tunnel

A high-quality model validation experiment was performed in the NASA Langley Research Center Unitary Plan Wind Tunnel to assess the predictive accuracy of computational fluid dynamics (CFD) models for a blunt-body supersonic retro-propulsion configuration at Mach numbers from 2.4 to 4.6. Static and fluctuating surface pressure data were acquired on a 5-inch-diameter test article with a forebody composed of a spherically-blunted, 70-degree half-angle cone and a cylindrical aft body. One non-powered configuration with a smooth outer mold line was tested as well as three different powered, forward-firing nozzle configurations: a centerline nozzle, three nozzles equally spaced around the forebody, and a combination with all four nozzles. A key objective of the experiment was the determination of experimental uncertainties from a range of sources such as random measurement error, flowfield non-uniformity, and model/instrumentation asymmetries. This paper discusses the design of the experiment towards capturing these uncertainties for the baseline non-powered configuration, the methodology utilized in quantifying the various sources of uncertainty, and examples of the uncertainties applied to non-powered and powered experimental results. The analysis showed that flowfield nonuniformity was the dominant contributor to the overall uncertainty a finding in agreement with other experiments that have quantified various sources of uncertainty.

Rhode, Matthew N.↗

NASA NTRS2012

An Integrated Approach for Gear Health Prognostics

In this paper, an integrated approach for gear health prognostics using particle filters is presented. The presented method effectively addresses the issues in applying particle filters to gear health prognostics by integrating several new components into a particle filter: (1) data mining based techniques to effectively define the degradation state transition and measurement functions using a one-dimensional health index obtained by whitening transform; (2) an unbiased l-step ahead RUL estimator updated with measurement errors. The feasibility of the presented prognostics method is validated using data from a spiral bevel gear case study.

He, David↗

NASA NTRS2012

Assessment of Mars Atmospheric Temperature Retrievals from the Thermal Emission Spectrometer Radiances

Motivated by the needs of Mars data assimilation. particularly quantification of measurement errors and generation of averaging kernels. we have evaluated atmospheric temperature retrievals from Mars Global Surveyor (MGS) Thermal Emission Spectrometer (TES) radiances. Multiple sets of retrievals have been considered in this study; (1) retrievals available from the Planetary Data System (PDS), (2) retrievals based on variants of the retrieval algorithm used to generate the PDS retrievals, and (3) retrievals produced using the Mars 1-Dimensional Retrieval (M1R) algorithm based on the Optimal Spectral Sampling (OSS ) forward model. The retrieved temperature profiles are compared to the MGS Radio Science (RS) temperature profiles. For the samples tested, the M1R temperature profiles can be made to agree within 2 K with the RS temperature profiles, but only after tuning the prior and error statistics. Use of a global prior that does not take into account the seasonal dependence leads errors of up 6 K. In polar samples. errors relative to the RS temperature profiles are even larger. In these samples, the PDS temperature profiles also exhibit a poor fit with RS temperatures. This fit is worse than reported in previous studies, indicating that the lack of fit is due to a bias correction to TES radiances implemented after 2004. To explain the differences between the PDS and Ml R temperatures, the algorithms are compared directly, with the OSS forward model inserted into the PDS algorithm. Factors such as the filtering parameter, the use of linear versus nonlinear constrained inversion, and the choice of the forward model, are found to contribute heavily to the differences in the temperature profiles retrieved in the polar regions, resulting in uncertainties of up to 6 K. Even outside the poles, changes in the a priori statistics result in different profile shapes which all fit the radiances within the specified error. The importance of the a priori statistics prevents reliable global retrievals based a single a priori and strongly implies that a robust science analysis must instead rely on retrievals employing localized a priori information, for example from an ensemble based data assimilation system such as the Local Ensemble Transform Kalman Filter (LETKF).

Hoffman, Matthew J.↗

NASA NTRS2012

Hydrocarbons on Phoebe, Iapetus, and Hyperion: Quantitative Analysis

We present a quantitative analysis of the hydrocarbon spectral bands measured on three of Saturn's satellites, Phoebe, Iaperus, and Hyperion. These bands, measured with the Cassini Visible-Infrared Mapping Spectrometer on close fly-by's of these satellites, are the C-H stretching modes of aromatic hydrocarbons at approximately 3.28 micrometers (approximately 3050 per centimeter), and the are four blended bands of aliphatic -CH2- and -CH3 in the range approximately 3.36-3.52 micrometers (approximately 2980- 2840 per centimeter) bably indicating the presence of polycyclic aromatic hydrocarbons (PAH), is unusually strong in comparison to the aliphatic bands, resulting in a unique signarure among Solar System bodies measured so far, and as such offers a means of comparison among the three satellites. The ratio of the C-H bands in aromatic molecules to those in aliphatic molecules in the surface materials of Phoebe, NAro:NAliph approximately 24; for Hyperion the value is approximately 12, while laperus shows an intermediate value. In view of the trend of the evolution (dehydrogenation by heat and radiation) of aliphatic complexes toward more compact molecules and eventually to aromatics, the relative abundances of aliphatic -CH2- and -CH3- is an indication of the lengths of the molecular chain structures, hence the degree of modification of the original material. We derive CH2:CH3 approximately 2.2 in the spectrum of low-albedo material on laperus; this value is the same within measurement errors to the ratio in the diffuse interstellar medium. The similarity in the spectral signatures of the three satellites, plus the apparent weak trend of aromatic/aliphatic abundance from Phoebe to Hyperion, is consistent with, and effectively confirms that the source of the hydrocarbon-bearing material is Phoebe, and that the appearance of that material on the other two satellites arises from the deposition of the inward-spiraling dust that populates the Phoebe ring.

Cruikshank, Dale P.↗

NASA NTRS2013

Motor Qualification for Long-Duration Mars Missions

Qualification of motors for deep space under extreme thermal environments to be encountered during the Mars Science Laboratory (MSL) mission is required to verify the reliability and validate mission assurance requirements. The motor assembly must survive all ground operations, plus the nominal 670 Martian-day (or sol) mission that includes summer and winter seasons of the Mars environment. The motor assembly was tested and characterized under extreme temperature conditions with reference to hardware requirements. The motor assembly has been proved to be remarkably robust and displayed no sign of degradation due to the 3 X (three times per JPL design principles) thermal environmental exposure to the punishing Mars surface operations cycles. The motor characteristics obtained before, during, and post-test comparisons for the surface operations cycles are within measurement error of one another. The motors withstood/survived 2,010 extreme temperature cycles with a Delta T of 190 C deep temperature cycles, representing three times the expected thermal cycling exposure during the MSL surface operations. The qualification test hardware elements (A200 motor assembly, encoders, and resolver) have not shown any signs of degradation due to the PQV (Package Qualification and Verification) testing. The test hardware has demonstrated sufficient life to survive the deep thermal cycles associated with MSL mission surface operations for three lives.

Ramesham, Rajeshuni↗

NASA NTRS2013

RF Reference Switch for Spaceflight Radiometer Calibration

The goal of this technology is to provide improved calibration and measurement sensitivity to the Soil Moisture Active Passive Mission (SMAP) radiometer. While RF switches have been used in the past to calibrate microwave radiometers, the switch used on SMAP employs several techniques uniquely tailored to the instrument requirements and passive remote-sensing in general to improve radiometer performance. Measurement error and sensitivity are improved by employing techniques to reduce thermal gradients within the device, reduce insertion loss during antenna observations, increase insertion loss temporal stability, and increase rejection of radar and RFI (radio-frequency interference) signals during calibration. The two legs of the single-pole double-throw reference switch employ three PIN diodes per leg in a parallel-shunt configuration to minimize insertion loss and increase stability while exceeding rejection requirements at 1,413 MHz. The high-speed packaged diodes are selected to minimize junction capacitance and resistance while ensuring the parallel devices have very similar I-V curves. Switch rejection is improved by adding high-impedance quarter-wave tapers before and after the diodes, along with replacing the ground via of one diode per leg with an open circuit stub. Errors due to thermal gradients in the switch are reduced by embedding the 50-ohm reference load within the switch, along with using a 0.25-in. (approximately equal to 0.6-cm) aluminum prebacked substrate. Previous spaceflight microwave radiometers did not embed the reference load and thermocouple directly within the calibration switch. In doing so, the SMAP switch reduces error caused by thermal gradients between the load and switch. Thermal issues are further reduced by moving the custom, highspeed regulated driver circuit to a physically separate PWB (printed wiring board). Regarding RF performance, previous spaceflight reference switches have not employed high-impedance tapers to improve rejection. The use of open-circuit stubs instead of a via to provide an improved RF short is unique to this design. The stubs are easily tunable to provide high rejection at specific frequencies while maintaining very low insertion loss in-band.

Knuble, Joseph↗

NASA NTRS2013

Evaluating Light Rain Drop Size Estimates from Multiwavelength Micropulse Lidar Network Profiling

This paper investigates multiwavelength retrievals of median equivolumetric drop diameter D(sub 0) suitable for drizzle and light rain, through collocated 355-/527-nm Micropulse Lidar Network (MPLNET) observations collected during precipitation occurring 9 May 2012 at the Goddard Space Flight Center (GSFC) project site. By applying a previously developed retrieval technique for infrared bands, the method exploits the differential backscatter by liquid water at 355 and 527 nm for water drops larger than approximately 50 micrometers. In the absence of molecular and aerosol scattering and neglecting any transmission losses, the ratio of the backscattering profiles at the two wavelengths (355 and 527 nm), measured from light rain below the cloud melting layer, can be described as a color ratio, which is directly related to D(sub 0). The uncertainty associated with this method is related to the unknown shape of the drop size spectrum and to the measurement error. Molecular and aerosol scattering contributions and relative transmission losses due to the various atmospheric constituents should be evaluated to derive D(sub 0) from the observed color ratio profiles. This process is responsible for increasing the uncertainty in the retrieval. Multiple scattering, especially for UV lidar, is another source of error, but it exhibits lower overall uncertainty with respect to other identified error sources. It is found that the total error upper limit on D(sub 0) approaches 50%. The impact of this retrieval for long-term MPLNET monitoring and its global data archive is discussed.

light-rain drop size estimates↗

NASA NTRS2011

Reduced Kalman Filters for Clock Ensembles

This paper summarizes the author's work ontimescales based on Kalman filters that act upon the clock comparisons. The natural Kalman timescale algorithm tends to optimize long-term timescale stability at the expense of short-term stability. By subjecting each post-measurement error covariance matrix to a non-transparent reduction operation, one obtains corrected clocks with improved short-term stability and little sacrifice of long-term stability.

Kalman filter↗

NASA NTRS2011

Space-Time Data Fusion

Space-time Data Fusion (STDF) is a methodology for combing heterogeneous remote sensing data to optimally estimate the true values of a geophysical field of interest, and obtain uncertainties for those estimates. The input data sets may have different observing characteristics including different footprints, spatial resolutions and fields of view, orbit cycles, biases, and noise characteristics. Despite these differences all observed data can be linked to the underlying field, and therefore the each other, by a statistical model. Differences in footprints and other geometric characteristics are accounted for by parameterizing pixel-level remote sensing observations as spatial integrals of true field values lying within pixel boundaries, plus measurement error. Both spatial and temporal correlations in the true field and in the observations are estimated and incorporated through the use of a space-time random effects (STRE) model. Once the models parameters are estimated, we use it to derive expressions for optimal (minimum mean squared error and unbiased) estimates of the true field at any arbitrary location of interest, computed from the observations. Standard errors of these estimates are also produced, allowing confidence intervals to be constructed. The procedure is carried out on a fine spatial grid to approximate a continuous field. We demonstrate STDF by applying it to the problem of estimating CO2 concentration in the lower-atmosphere using data from the Atmospheric Infrared Sounder (AIRS) and the Japanese Greenhouse Gasses Observing Satellite (GOSAT) over one year for the continental US.

Greenhouse Gases Observing Satellite (GOSAT)↗

NASA NTRS2015

Sulfur and Oxygen Isotopic Analysis of a Cosmic Symplectite from a Comet Wild 2 Stardust Terminal Particle

Introduction: Analyses of comet 81P/Wild 2 samples re-turned from the Stardust mission have uncovered surprising simi-larities to meteoritic material, including the identification of inner solar system grains [1-3]. The TEM characterization of terminal particle (TP) 4 from Stardust track #147 revealed an assemblage consisting of symplectically intergrown pentlandite and nanocrys-talline maghemite coexisting with high-Ca pyroxene [4]. Mineral-ogically similar cosmic symplectites (COS) containing pentlandite and magnetite in the primitive Acfer 094 meteorite are highly de-pleted in 16O (17O, 18O ~ 180 per mille) [5-7]. This isotopic signature is proposed to record alteration with primordial solar nebula water. Conversely, the normal O isotopic composition of the Stardust COS indicates alteration by a different aqueous reservoir, perhaps on the comet [8]. In this study, we analyzed the Wild 2 COS for S isotopes to further constrain its origin. Experimental: Thin sections of TP4 (12 m) were produced and their mineralogy was thoroughly characterized by TEM. Two of the sections were analyzed for O isotopes by isotopic imaging in the JSC NanoSIMS 50L. The sample in one of the slices was completely consumed. The remaining material in the adjacent slice was analyzed simultaneously for 16O, 32S, 33S, 34S, and 56Fe16O in electron multipliers using a Cs+ primary ion beam. Quasi-simulta-neous arrival (QSA) can have a significant effect on S isotopic ra-tios when using electron multipliers, resulting in undercounting of 32S [9]. Canyon Diablo troilite (CDT) was measured numerous times to deduce a correction factor for QSA and ensure measure-ment reproducibility. Isotopic ratios are reported relative to CDT. Results and Discussion: The Wild 2 COS is enriched in the heavy S isotopes relative to CDT (33S = 6.5 +/- 1.6 per mille; 34S = 5.1 +/- 0.7 per mille; 1). The degree of 33S enrichment indicates mass-inde-pendent fractionation (MIF) with 33S = 3.9 +/- 1.7 per mille. MIF of S has been observed in some chondrules (33S up to 0.11per mille) [10], but this effect has not been identified in sulfides from carbonaceous chondrites [11] or IDPs [12]. S isotopic analysis of Stardust impact craters also did not reveal MIF or anomalies, save for one potential 32S-rich presolar sulfide [13]. Measurement errors on these impact craters were much larger than those in this study, however. MIF of S has been proposed to result from heterogeneities in the solar neb-ula from nucleosynthetic components [14] or photochemical irra-diation of solar nebula gas [10]. Presolar SiC grains are observed to have 32S enrichments [15, 16] contrary to the S isotopic compo-sition of the cometary COS. The S isotopic composition more likely reflects irradiation of nebular gas.

Nguyen, A. N.↗

NASA NTRS2015

Dealing with Uncertainties in Initial Orbit Determination

A method to deal with uncertainties in initial orbit determination (IOD) is presented. This is based on the use of Taylor differential algebra (DA) to nonlinearly map the observation uncertainties from the observation space to the state space. When a minimum set of observations is available DA is used to expand the solution of the IOD problem in Taylor series with respect to measurement errors. When more observations are available high order inversion tools are exploited to obtain full state pseudo-observations at a common epoch. The mean and covariance of these pseudo-observations are nonlinearly computed by evaluating the expectation of high order Taylor polynomials. Finally, a linear scheme is employed to update the current knowledge of the orbit. Angles-only observations are considered and simplified Keplerian dynamics adopted to ease the explanation. Three test cases of orbit determination of artificial satellites in different orbital regimes are presented to discuss the feature and performances of the proposed methodology.

Armellin, Roberto↗