Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “coordinated energy system”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 739 records · Page 41
All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Advances to a Global Agroclimatology Solar Insolation and Meteorological Parameter Data Base: Improved Solar Irradiance up to Hourly Temporal Resolution

A primary objective of NASA’s Prediction of Worldwide Energy Resource (POWER) project is to facilitate the use of NASA Earth Science data holdings within the energy, agricultural, and architectural industries. To this end daily averaged solar data from several NASA projects and metrological data from a NASA assimilation model have long been reformatted and via a user friendly web based data portal (https://power.larc.nasa.gov) at the native resolution of each data products. Potential users can access solar and metrological data in a column formatted DSSAT ASCII format by entering single site specific coordinates or from an area by entering the appropriate area coordinates. Upgrades to the POWER data portal have been implemented that result in a complete upgrade of the base solar insolation data products. From the years 1984 through 2000, a new version of the NASA/GEWEX Surface Radiation Budget (SRB) and Clouds is utilized that reduces the RMS relative to surface measurements. Additionally, Clouds and the Earth’s Radiant Energy System (CERES) SYNoptic 1x1 Degree (SYN1Deg) data products are utilized starting from January 1, 2001 through 3 months of real-time. The CERES Fast Longwave and SHortwave radiative Fluxes (FLASHFlux) is still used to provided daily data spanning from the end of SYN1Deg to within 7 days of real-time. Meteorological parameters now are taken from the NASA Modern Era Retrospective-analysis for Research and Applications (MERRA-2) data set which provides higher resolution data products (hourly and 0.5 x 625 degree) covering the entire globe. Besides updating the solar and meteorological data products, this new version features new data products such as photosynthetically active radiation (PAR), more cloud information, estimates of soil temperatures and improved options for long-term climatological data requests. More than 36+ years daily time slices are included in the combined solar and meteorological data sets. However, perhaps the most important innovation of the POWER GIS-enabled Web Services is the provision of hourly solar and meteorological data products beginning in Jan 1, 2001. The hourly values will enable more detailed modeling and crop analysis that incorporates the diurnal variability of these parameters. The new capability is made possible by utilizing both the CERES SYN1Deg and MERRA-2 data products that include parameters at these resolutions. An assessment of both the meteorological and the solar irradiance data are based upon comparisons with globally distributed surface observations. The meteorological observations from the National Center for Environmental Information’s “Integrated Surface Database” as well as the “Global Summary of the Day” (GSOD) data files. The estimates of solar insolation are compared to the Baseline Solar Radiation Network (BSRN) and other high quality surface measurement networks. Results from the uncertainty assessments demonstrates that the NASA’s meteorological and solar irradiance data can represent a viable alternative to surface observations, particularly in data sparse regions of the world.

solar irradiance↗
DOE OSTI2024

Solar and Storage Integration in the Southeastern United States: Economics, Reliability, and Operations

Solar energy has the potential to be a core energy resource for the southeastern United States. To better understand the implications of higher levels of solar PV (27%-43% of total generation capacity) and electricity storage (13%-49% of peak load) would affect electricity system reliability, costs, and operations in the U.S. Southeast, this study sought to address two main questions. First, how would higher levels of solar PV and electricity storage impact the costs, reliability, and operations of electricity systems in the Southeast in 2035? Second, at different levels of solar PV and electricity storage, what are the benefits of operational coordination among utilities in the Southeast, through more efficient regional dispatch and sharing operating reserves? To answer these questions, the study used detailed capacity expansion and dispatch modeling to develop and examine 15 scenarios with different levels of solar PV, electricity storage, and operational coordination, focusing on the year 2035. The study also evaluates the benefits of operational coordination among utilities through more efficient regional dispatch and reserve sharing, at different levels of solar and storage. The study focuses on five balancing regions that cover Alabama, Georgia, Kentucky, North Carolina, South Carolina, Tennessee, and parts of Mississippi and Missouri.

14 SOLAR ENERGY↗
DOE OSTI2024

Solar and Storage Integration in the Southeastern United States: Economics, Reliability, and Operations

Solar energy has the potential to be a core energy resource for the southeastern United States. To better understand the implications of higher levels of solar PV (27%-43% of total generation capacity) and electricity storage (13%-49% of peak load) would affect electricity system reliability, costs, and operations in the U.S. Southeast, this study sought to address two main questions. First, how would higher levels of solar PV and electricity storage impact the costs, reliability, and operations of electricity systems in the Southeast in 2035? Second, at different levels of solar PV and electricity storage, what are the benefits of operational coordination among utilities in the Southeast, through more efficient regional dispatch and sharing operating reserves? To answer these questions, the study used detailed capacity expansion and dispatch modeling to develop and examine 15 scenarios with different levels of solar PV, electricity storage, and operational coordination, focusing on the year 2035. The study also evaluates the benefits of operational coordination among utilities through more efficient regional dispatch and reserve sharing, at different levels of solar and storage. The study focuses on five balancing regions that cover Alabama, Georgia, Kentucky, North Carolina, South Carolina, Tennessee, and parts of Mississippi and Missouri.

14 SOLAR ENERGY↗
DOE OSTI2020

Supported and coordinated single metal site electrocatalysts

The ever-increasing global environmental and energy crisis issues necessitates technological innovation, especially in the development of renewable energy-related devices, such as electrochemical energy conversion and storage technologies, including fuel cells, water electrolyzers, and CO 2 electrolyzers. Reliable and sustainable energy conversion devices are highly dependent on engineering of electrocatalysts. Furthermore, state-of-the-art electrocatalysts for these electrochemical conversion systems are usually platinum group metal (PGM)-based nanoparticles with high cost, which has sparked intensive research on atomically dispersed single metal site electrocatalysts for decreasing metal loadings and boosting catalytic efficiencies by taking advantage of their inherent electronic effects, quantum size effects, and metal-support interactions. In this review, we first introduced the intrinsic active site identification and stabilization, followed by addressing the mutual metal-support interactions, and most important, their correlations with catalytic properties. Next, the advances in synthetic strategies and characterization techniques for single metal site electrocatalysts are highlighted. Additionally, recent advances in single metal site electrocatalysts designs for applications in electrochemical conversion reactions are also presented. Finally, remaining challenges and a forward-looking perspective on this field of research are provided.

25 ENERGY STORAGE↗
DOE OSTI2021

The North American Renewable Integration Study (NARIS): A Canadian Perspective

The North American electric power system is undergoing significant change, with renewable resources now contributing more generation than ever before. This transformation is poised to continue given decreasing technology costs and ambitious decarbonization goals at the federal, state, local, corporate, and consumer levels. The North American Renewable Integration Study (NARIS) aims to inform grid planners, utilities, industry, policymakers, and other stakeholders about challenges and opportunities for continental system integration of large amounts of wind, solar, and hydropower to support a low-carbon future grid. The National Renewable Energy Laboratory (NREL) conducted a detailed, continent-wide analysis with planning scenarios of transmission, generation, and demand to reach 80%–92% carbon reductions (from 2005) for the Canadian electric power system, and up to 80% reductions continent-wide. We used a suite of models to study future scenarios and gain insights, including potential impacts on costs, emissions, resource adequacy, and the specific technologies that help enable the transition to a low-carbon grid. Our analysis had a particular focus on the potential role of cooperation among the three North American countries and between regions within each country, and how transmission can support sharing of supply and demand diversity. The NARIS project began in 2016. This report describes a Canadian perspective in coordination with the Natural Resources Canada, and a companion report describes a U.S. perspective in coordination with the U.S. Department of Energy. NARIS was an extension of a previous body of work, including the Western Wind and Solar Integration Study, the Eastern Renewable Generation Integration Study, Interconnections Seam Study, and the Pan Canadian Wind Integration Study. NARIS analyzed the entire continent in detail while studying higher renewable generation than previous studies. The scenarios in NARIS were informed by the goals in the Mid-Century Strategies for the Paris Agreement in each country.

14 SOLAR ENERGY↗
DOE OSTI2024

A review on protection challenges of Transmission Lines connected to Inverter Based Resources

The increased penetration of inverter-based resources (IBRs) connected to transmission grids is challenging how traditional electric power systems operate. Such systems were originally designed based on the dominant presence of synchronous generators. Some main challenges include the increased concerns about system stability due to the reduced system inertia caused by IBRs and the reduced protection reliability caused by the non-deterministic fault current response of IBRs. The protection relays’ algorithms have been designed and validated based on well-known fault current characteristics of synchronous generations, while the short-circuit responses of IBRs heavily depend on their vendor-specific control schemes, which are mainly set to protect inverter semiconductor switches and DC components. The magnitude of short current that IBRs contribute is typically between 1.1–1.5 times the rated current that may behave unstably and incoherently with the voltages. The control scheme of the IBRs also controls the active (P) and reactive (Q) support during system voltage sag and swell conditions. These characteristics challenge not only protective relay schemes but also existing short-circuit software tools to correctly model IBRs for fault studies and protection coordination analyses.

14 SOLAR ENERGY↗
DOE OSTI2022

A scalable planning framework of energy storage systems under frequency dynamics constraints

As the penetration of renewables increases in power systems, the declining system inertia can cause frequency stability issues. Battery energy storage systems (BESSs) respond fast and therefore can relieve the low inertia difficulty but need to be appropriately sized considering the associated cost. This paper presents a novel stochastic optimization model for economically planning BESS capacity while considering the spatial–temporal correlation of wind generation and generator outages under frequency stability constraints, which include the rate-of-change of frequency (RoCoF), frequency nadir (FN), and quasi-steady-state (QSS) frequency. A set of new FN constraints that can be easily linearized is developed. To account for renewable uncertainties, a realistic uncertainty modeling approach, Random Field, is adopted to generate wind generation scenarios by considering both spatial and temporal evolutions of wind speed profiles. The ESS sizing is formulated as a mixed-integer linear programming problem and solved by using a scalable decomposition-and-coordination approach, Surrogate Absolute Value Lagrangian Relaxation (SAVLR). To further improve the scalability and reduce computational burdens, a rolling-horizon-based update is developed and incorporated into SAVLR for providing a practical solution to the long-term planning of very large-scale power systems. Finally, a modified IEEE 118-bus system and the Polish system are used to validate the effectiveness and scalability of the model and solution methodology.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2026

Policy Reforms to Unleash Domestic Critical Minerals Mining and Processing

The United States faces growing strategic and economic risks due to its limited ability to mine, process, and refine the minerals required for national defense, energy systems, advanced manufacturing, and emerging technologies. Although the country possesses significant geological resources, development has been slowed by long and unpredictable permitting timelines, fragmented regulatory responsibilities, limited midstream processing capacity, and a shrinking technical workforce. These structural barriers have created supply chain vulnerabilities that constrain industrial growth and reduce national resilience. This report presents a comprehensive set of reforms intended to modernize the nation’s approach to critical minerals. The recommendations address federal permitting, environmental review processes, the legal framework governing mining activities, interagency coordination, domestic processing and refining capacity, and the education and workforce systems needed to support long term industry development. The analysis emphasizes practical steps to shorten project timelines, improve regulatory clarity, expand processing infrastructure, enable recovery from both conventional and nontraditional sources, and update outdated requirements that hinder the development of essential materials. Taken together, the recommended reforms would strengthen domestic supply chains, improve investment certainty, and reduce dependence on external minerals and processing infrastructure. By aligning policy, regulatory frameworks, and workforce capabilities with national needs, the United States can build a more resilient and secure critical minerals ecosystem that supports long term economic competitiveness and technological leadership.

29 - ENERGY PLANNING, POLICY AND ECONOMY↗
DOE OSTI2024

Association Kinetics for Perfluorinated n -Alkyl Radicals

Radical-radical reaction channels are important in the pyrolysis and oxidation chemistry of perfluoroalkyl substances (PFAS). In particular, unimolecular dissociation reactions within unbranched n-perfluoroalkyl chains, and their corresponding reverse barrierless association reactions, are expected to be significant contributors to the gas-phase thermal decomposition of families of species such as perfluorinated carboxylic acids and perfluorinated sulfonic acids. Unfortunately, experimental data for these reactions are scarce and uncertain. Furthermore, obtaining reliable theoretical predictions for such reactions is a laborious and computationally intensive task. Here, in this work, the chemical kinetics of the various association/decomposition reactions producing/decomposing the C 2 -C 4 series of unbranched n-perfluoroalkanes (C 2 F 6 , C 3 F 8 , and C 4 F 10 ) are examined using state-of-the-art ab initio transition-state-theory-based master-equation calculations. The variable-reaction-coordinate transition-state theory (VRC-TST) formalism is employed in computing the microcanonical and canonical rates for the association reactions. Reaction thermochemistry is obtained via composite quantum chemistry calculations and the laddering of error-canceling reaction schemes via a connectivity-based hierarchy approach employing ANL1/ANL0-style reference energies. Lennard-Jones collision model parameters for the considered systems were estimated by a direct dynamics approach, and collisional energy transfer parameters were obtained from analogies to systems of similar size and heavy-atom connectivity. A one-dimensional master equation approach was used to convert the microcanonical rate coefficients from the VRC-TST analysis into temperature- and pressure-dependent rate constants for the association reactions and the reverse dissociation reactions. The data are reported in standardized formats for usage in comprehensive chemical kinetic models for PFAS thermal destruction.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2022

Low energy effective theory for axion strings

We consider aspects of the low energy (classical) effective field theory description of global cosmic strings. In the non-relativistic limit, we study the extent to which these are described by the combination of the Nambu-Gotto and Kalb-Ramond actions. While in a formal sense this is the case for infinitely long strings, for more realistic situations, the collective coordinates of the system do not provide a complete description for more than brief intervals; as time evolves it becomes necessary to include low momentum goldstone excitations as well.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2020

2019 Anion Exchange Membrane Workshop Summary Report

The National Renewable Energy Laboratory, in coordination with the U.S. Department of Energy Fuel Cell Technologies Office, Advanced Research Projects Agency–Energy, and Los Alamos National Laboratory, hosted the 2019 Anion Exchange Membrane Workshop at the Sheraton Dallas Hotel in Dallas, Texas, on May 30, 2019. More than 50 industrial, academic, national laboratory, and government experts representing the needs of anion exchange membranes, membrane electrode assemblies, and system and stack components attended the workshop.

30 DIRECT ENERGY CONVERSION↗
DOE OSTI2023

Probing Particle Impingement in Boilers Using High-Performance Computing with Parallel CPUs and GPUs

The major goals of the project are to calculate and analyze particle impingement within boilers, quantify effects of particulates in boilers, and predict damage rates of boilers under different cycling modes. Collectively, these initiatives develop insight into existing coal plant challenges using advanced modeling tools, particularly those leveraging high-performance computing resources. High-performance CFD computing forms a central theme in this project that will employ a high degree of coordination and communication between these initiatives to realize a final, rigorously sound, and validated computational capability upon completion. These results will create a holistic, comprehensive, systems-level assessment of damage rates under different cycling modes. Together, these objectives will develop critical insight into damage mechanisms in existing coal plant challenges for accurately and efficiently assessing operating performance in fossil energy power plants.

20 FOSSIL-FUELED POWER PLANTS↗
DOE OSTI2020

Quantitative comparison between sub-millisecond time resolution single-molecule FRET measurements and 10-second molecular simulations of a biosensor protein

Molecular Dynamics (MD) simulations seek to provide atomic-level insights into conformationally dynamic biological systems at experimentally relevant time resolutions, such as those afforded by single-molecule fluorescence measurements. However, limitations in the time scales of MD simulations and the time resolution of single-molecule measurements have challenged efforts to obtain overlapping temporal regimes required for close quantitative comparisons. Achieving such overlap has the potential to provide novel theories, hypotheses, and interpretations that can inform idealized experimental designs that maximize the detection of the desired reaction coordinate. Here, we report MD simulations at time scales overlapping with in vitro single-molecule Förster (fluorescence) resonance energy transfer (smFRET) measurements of the amino acid binding protein LIV-BP SS at sub-millisecond resolution. Computationally efficient all-atom structure-based simulations, calibrated against explicit solvent simulations, were employed for sampling multiple cycles of LIV-BP SS clamshell-like conformational changes on the time scale of seconds, examining the relationship between these events and those observed by smFRET. The MD simulations agree with the smFRET measurements and provide valuable information on local dynamics of fluorophores at their sites of attachment on LIV-BP SS and the correlations between fluorophore motions and large-scale conformational changes between LIV-BP SS domains. We further utilize the MD simulations to inform the interpretation of smFRET data, including Förster radius (R 0 ) and fluorophore orientation factor (κ 2 ) determinations. The approach we describe can be readily extended to distinct biochemical systems, allowing for the interpretation of any FRET system conjugated to protein or ribonucleoprotein complexes, including those with more conformational processes, as well as those implementing multi-color smFRET.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2022

Developing a Reduced 240-Bus WECC Dynamic Model for Frequency Response Study of High Renewable Integration

The ongoing changes in the generation resource mix, driven by the rapid adoption of inverter-based resources (IBR) as well as the early retirement of synchronous generators, are bringing new challenges to the planning and operation of bulk electric power systems. Consequently, there is an increasing need to understand, design, and quantify the reliability service provision from IBRs by performing integrated scheduling and dynamic simulations. However, test systems that have consistent scheduling and dynamic models rarely exist largely because of the decoupled nature of the two simulations on a synchronous generator-dominated system. This paper develops the dynamic model of a reduced Western Electricity Coordinating Council (WECC) system. In conjunction with the existing scheduling model, it is suitable for integrating scheduling and dynamic simulations. The reduced 240-bus WECC model reflects the generation resource mix of the Western Interconnection as of 2018. Moreover, the developed dynamic model is validated against field frequency events measured by FNET/GridEye and preserves the dominant inter-area oscillation mode in WECC.

dynamic simulation↗
DOE OSTI2026

Joint scheduling of energy, fast and primary frequency response reserves in integrated transmission–distribution networks

Inverter-based distributed energy resources (DERs) connected to distribution networks (DNs) can provide fast frequency support, but their reserve deliverability depends on feeder constraints and differs from synchronous primary frequency response (PFR). Existing transmission–distribution coordination studies usually treat reserve generically or neglect feeder-level feasibility, while frequency-security scheduling studies rarely represent distribution feeders explicitly. This paper develops a bi-level day-ahead scheduling framework for integrated transmission–distribution networks that jointly clears energy, transmission-side PFR, and distribution-side fast frequency response (FFR) under exogenous hourly inertia and largest-loss inputs from an external unit commitment (UC) schedule. The transmission problem is modeled with DC-optimal power flow (OPF) and closed-form second-order cone (SOC) frequency-security constraints, whereas each DN is represented by a reserve-aware branch-flow AC-OPF so that scheduled fast reserves remain deliverable during activation. The bi-level problem is reformulated through Karush–Kuhn–Tucker (KKT) conditions into a mixed-integer SOC program, and a penalty term is used to tighten the distribution-network relaxation. In the reduced test system, lower exogenous inertia increased the required primary response from 179.64 MW to 191.08 MW, distribution-side fast response reduced total frequency-response procurement by up to 4.9%, and neglecting distribution constraints overstated the combined distribution-side energy and reserve award by up to 18%. In the expanded study, the largest case was solved in 2.02 s with a 0.00% optimality gap. Time-domain simulations kept the frequency nadir above 59.0 Hz in all tested hours. These results demonstrate the value of fast-response modeling and distribution-feasible reserve delivery in coordinated market clearing.

Noh, Seung-Gil↗
DOE OSTI2024

A Review of the Generic Grid-Forming Model Used by the System Operator in Chile

The objective in this project is to verify the applicability of using generic electro-magnetic transient domain models of GFM technology through a wide range of tests and system conditions proposed by subject matter experts of GFM technology through a wide range of tests and system conditions proposed by subject matter experts. For this study, we used the generic GFM electro-magnetic transient model available in the EMTP (Electromagnetic Transient Program) software library, and we assessed the model’s various GFM capabilities through 12 tests. In this report, we compare the performance of the model with that of an original equipment manufacturer (OEM) GFM model. We also share the key insights and lessons learned from this work.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2026

EXERGETIC: De-Risking Next-Generation Resilient Geothermal Hybrids via At-Scale Evaluation Using Virtual Emulation Digital Twin Environment for Efficient Operation

The DOE-GTO-funded project, award number 5.1.2.12, entitled "EXERGETIC - De-risking Next Generation Resilient Geothermal Hybrids via at-Scale Evaluation Using a Virtual Emulation Digital Twin Environment for Efficient Operation," advances the solution to these challenges by developing and validating a geothermal co-emulation environment implemented at the National Laboratory of the Rockies (NLR)'s Advanced Research on Integrated Energy Systems (ARIES) platform. This framework enables the de-risking of next-generation geothermal and geothermal hybrid systems through high-fidelity modeling, real-time digital emulation, advanced control strategies, and techno-economic assessment. The project focused on geothermal hybrid configurations that integrate geothermal power plants with concentrated solar power and underground thermal energy storage, enabling enhanced efficiency, flexibility, and grid support capabilities. The main goal of this project was the development of a geothermal digital co-emulation environment to demonstrate the technical and economic value of geothermal hybrid systems and their contribution to grid stability and flexibility. The EXERGETIC framework combined physics-based models, controls, and real assets at ARIES, including digital real-time simulators (DRTS), a 20-MW-scale controllable grid interface (CGI), and a 2-MW conventional generator. Detailed transient models were developed for the key subsystems of a hybrid geothermal plant, including parabolic trough solar collectors, reservoir thermal energy storage (RTES), and a binary Organic Rankine Cycle (ORC) power plant. The ORC model explicitly captured thermal inertia and off-design operation and integrated control strategies to dynamically respond to electric load profiles. The models were validated against published experimental and numerical studies, demonstrating strong agreement and confirming the accuracy and robustness of the modeling approach. The resulting digital twin represents geothermal-solar-storage systems at multiple scales (1 MW to 100 MW) and enables realistic emulation of grid-connected operation. The control architecture allows the geothermal resource to provide stable baseload generation, while solar and stored thermal energy supply flexible, dispatchable support during periods of high demand or variable grid conditions. A key contribution of the EXERGETIC project is the demonstration that geothermal hybrid systems can be designed to be active grid assets rather than passive baseload generators. Using the ARIES platform, the digital twin was evaluated under multiple grid scenarios, including load following, voltage support at the distribution level, and frequency response at the transmission level. Results show that hybrid geothermal systems can respond effectively to dynamic grid conditions, providing inertia-like behavior, primary frequency support, and voltage regulation through coordinated control. In addition to the performance and grid services capability analysis of geothermal and hybrid geothermal systems, the EXERGETIC project also focused on scalability and techno-economic analysis of geothermal hybrid plants. In particular, for the scalability analysis, machine-learning (ML)-based surrogate models were trained using data generated from the geothermal digital twin under different grid-connected scenarios and plant capacities. These ML models demonstrated strong interpolation and extrapolation capabilities across plant sizes, accurately reproducing both steady-state and transient responses with very low errors. Regarding the techno-economic analysis, plant performance results were integrated with cost models for hybrid geothermal systems, and the levelized cost of electricity (LCOE) was used as the main economic metric to evaluate system performance across a range of system capacities, solar shares, solar multiples, and storage durations. Results indicate that economies of scale significantly reduce geothermal LCOE as plant capacity increases, with large-scale systems (25-100 MW) achieving substantially lower costs than small plants. Hybridization with solar thermal energy and storage further improves economic performance by increasing capacity utilization and enabling flexible dispatch. In addition, thermal storage plays a critical role in reducing LCOE by maximizing geothermal, solar, and stored energy resources. In summary, the results from this project demonstrate that geothermal hybrid systems represent a promising alternative for increasing the energy conversion efficiency of geothermal technologies, contributing to the preservation of geothermal resources, and supporting the transition of geothermal plants from traditional baseload resources into flexible, resilient, and cost-competitive energy conversion technologies.

15 GEOTHERMAL ENERGY↗
NASA NTRS2011

In Situ Surface Characterization

Operation of in situ space assets, such as rovers and landers, requires operators to acquire a thorough understanding of the environment surrounding the spacecraft. The following programs help with that understanding by providing higher-level information characterizing the surface, which is not immediately obvious by just looking at the XYZ terrain data. This software suite covers three primary programs: marsuvw, marsrough, and marsslope, and two secondary programs, which together use XYZ data derived from in situ stereo imagery to characterize the surface by determining surface normal, surface roughness, and various aspects of local slope, respectively. These programs all use the Planetary Image Geometry (PIG) library to read mission-specific data files. The programs themselves are completely multimission; all mission dependencies are handled by PIG. The input data consists of images containing XYZ locations as derived by, e.g., marsxyz. The marsuvw program determines surface normals from XYZ data by gathering XYZ points from an area around each pixel and fitting a plane to those points. Outliers are rejected, and various consistency checks are applied. The result shows the orientation of the local surface at each point as a unit vector. The program can be run in two modes: standard, which is typically used for in situ arm work, and slope, which is typically used for rover mobility. The difference is primarily due to optimizations necessary for the larger patch sizes in the slope case. The marsrough program determines surface roughness in a small area around each pixel, which is defined as the maximum peak-to-peak deviation from the plane perpendicular to the surface normal at that pixel. The marsslope program takes a surface normal file as input and derives one of several slope-like outputs from it. The outputs include slope, slope rover direction (a measure of slope radially away from the rover), slope heading, slope magnitude, northerly tilt, and solar energy (compares the slope with the Sun s location at local noon). The marsuvwproj program projects a surface normal onto an arbitrary plane in space, resulting in a normalized 3D vector, which is constrained to lie in the plane. The marsuvwrot program rotates the vectors in a surface normal file, generating a new surface normal file. It also can change coordinate systems for an existing surface normal file. While the algorithms behind this suite are not particularly unique, what makes the programs useful is their integration into the larger in situ image processing system via the PIG library. They work directly with space in situ data, understanding the appropriate image metadata fields and updating them properly. The secondary programs (marsuvwproj, marsuvwrot) were originally developed to deal with anomalous situations on Opportunity and Spirit, respectively, but may have more general applicability.

Deen, Robert G.↗