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NASA NTRS2020

A ROS-based Simulator for Testing the Enhanced Autonomous Navigation of the Mars 2020 Rover

In order to achieve the ambitious objectives of the Mars 2020 (M2020) mission, in particular the ability to autonomously traverse more challenging terrains more efficiently, new surface mobility software was developed for Enhanced Navigation (ENav). That decision was made early in the project, before most of the new surface flight software (FSW) existed, which created a need for a separate framework where the new navigation algorithms could be quickly prototyped and tested, before more realistic FSW-based testbeds became available. The JPL robotics team chose the Robot Operating System [1] (ROS) as the environment in which to test the new ENav algorithms. This made it possible to write the algorithms in the C language required by the FSW, so they could be directly ported over to the flight module later on, while leveraging all the C++ libraries and tools provided by ROS for simulation and testing. The ENav algorithms were developed as a separate C library, and stubs were used to replace any FSW-specific code, such as Event Reporting (EVRs) and data products (DPs). A ROS simulator was developed to generate a rich set of varied 3D terrains representative of the candidate Mars landing sites and simulate the physics of the rover motion, the point cloud perceived by the rover’s stereo vision system, and the new thinking-while-driving (TWD) navigation logic which directs the rover to drive autonomously to user-specified waypoints. To simulate the rover motion and perception, a ROS node was developed that uses a software library called HyperDrive Sim (HDSim), which is a wrapper for the Rover Sequencing and Visualization Program [2] (RSVP). That library provides roverterrain settling, realistic slip modelling, and camera rendering capability based on the rover’s NavCam machine vision models. To simulate the navigation logic, a ROS node was created that initializes and runs the ENav algorithms in a way that mimics the FSW execution, while also providing the capability to load and replay data products, including re-running the recorded inputs through the ENav algorithms for testing. An engineering Graphical User Interface (GUI) was also developed to visualize various elements, such as the rover pose during the drive, the simulated and perceived terrain, the selected local and global paths to the goal, the evaluated candidate paths and the reasons why they were rejected, the keep-in and keep-out zones (KIOZs), etc. Finally, an advanced Monte Carlo (MC) framework that can run many simulations in parallel on the Cloud and automatically generate reports that capture the key ENav performance metrics was developed to evaluate the system in a statisticallymeaningful way. This paper provides an overview of the ROSbased simulator used for testing the M2020 ENav algorithms.

Toupet, Olivier↗
NASA NTRS1984

Submillimeter astronomy and the problem of star formation

Sources that have traditionally been called 'protostars,' because they were strong emitters of infrared radiation embedded in dust clouds, are now recognized to be 'newly formed' stars instead. Recent developments in submillimeter astronomy should permit a redoubling of efforts to find bodies that are the actual predecessors of newly formed stars. This renewed search for true protostars will be aided by advances that have occurred in submillimeter spectroscopy; these will permit an analysis of the physical conditions and chemical constitution of cooler protostellar clouds, and may provide insight into circumstances favoring protostellar collapse.

Harwit, M.↗
NASA NTRS2007

Clouds in GEOS-5

The GEOS-5 atmospheric model is being developed as a weather-and-climate capable model. It must perform well in assimilation mode as well as in weather and climate simulations and forecasts and in coupled chemistry-climate simulations. In developing GEOS-5, attention has focused on the representation of moist processes. The moist physics package uses a single phase prognostic condensate and a prognostic cloud fraction. Two separate cloud types are distinguished by their source: "anvil" cloud originates in detraining convection, and large-scale cloud originates in a PDF-based condensation calculation. Ice and liquid phases for each cloud type are considered. Once created, condensate and fraction from the anvil and statistical cloud types experience the same loss processes: evaporation of condensate and fraction, auto-conversion of liquid or mixed phase condensate, sedimentation of frozen condensate, and accretion of condensate by falling precipitation. The convective parameterization scheme is the Relaxed Arakawa-Schubert, or RAS, scheme. Satellite data are used to evaluate the performance of the moist physics packages and help in their tuning. In addition, analysis of and comparisons to cloud-resolving models such as the Goddard Cumulus Ensemble model are used to help improve the PDFs used in the moist physics. The presentation will show some of our evaluations including precipitation diagnostics.

Bacmeister, Julio↗
NASA NTRS1995

The physics of massive OB stars in different parent galaxies. 1: Ultraviolet and optical spectral morphology in the Magellanic Clouds

Hubble Space Telescope/Faint Object Spectrograph (HST/FOS) and European Space Observatory (ESO) 3.6-m/CASPEC observations have been made of 18 stars ranging in spectral type from O3 through B0.5 Ia, half of them in each of the Large and Small Magellanic Clouds, in order to investigate massive stellar winds and evolution as a function of metallicity. The spectroscopic data are initially presented and described here in an atlas format. The relative weakness of the stellar-wind features in the SMC early O V spectra, due to their metal deficiency, is remarkable. Because of their unsaturated profiles, discrete absorption components can be detected in many of them, which is generally not possible in LMC and Galactic counterparts at such early types, or even in SMC giants and supergiants. On the other hand, an O3 III spectrum in the SMC has a weak C IV but strong N V wind profile, possibly indicating the presence of processed material. Wind terminal velocities are also given and intercompared between similar spectral types in the two galaxies. In general, the terminal velocities of the SMC stars are smaller, in qualitative agreement with the predictions of radiation-driven wind theory. Further analyses in progress will provide atmospheric and wind parameters for these stars, which will be relevant to evolutionary models and the interpretation of composite starburst spectra.

Walborn, Nolan R.↗
NASA NTRS2005

A New Approach to using a Cloud-Resolving Model to Study the Interactions between Clouds, Precipitation and Aerosols

Numerical cloud models, which are based the non-hydrostatic equations of motion, have been extensively applied to cloud-scale and mesoscale processes during the past four decades. Because cloud-scale dynamics are treated explicitly, uncertainties stemming from convection that have to be parameterized in (hydrostatic) large-scale models are obviated, or at least mitigated, in cloud models. Global models will use the non-hydrostatic framework when their horizontal resolution becomes about 10 kilometers, the theoretical limit for the hydrostatic approximation. This juncture will be reached one to two decades from now. Over the past generation, voluminous datasets on atmospheric convection have been accumulated from radar, instrumented aircraft, satellites, and rawinsonde measurements in field campaigns, enabling the detailed evaluation of models. Improved numerical methods have resulted in more accurate and efficient dynamical cores in models. Improvements have been made in the parameterizations of microphysical processes, radiation, boundary-layer effects, and turbulence; however, microphysical parameterizations remain a major source of uncertainty in all classes of atmospheric models. In recent years, exponentially increasing computer power has extended cloud-resolving-model integrations from hours to months, the number of computational grid points from less than a thousand to close to ten million. Three-dimensional models are now more prevalent. Much attention is devoted to precipitating cloud systems where the crucial 1-kilometer scales are resolved in horizontal domains as large as 10,000 kilometers in two dimensions, and 1,000 x 1,000 square kilometers in three-dimensions. Cloud models now provide statistical information useful for developing more realistic physically-based parameterizations for climate models and numerical weather prediction models. A review of developments and applications of cloud models in the past, present and future will be presented in this talk. In particular, a new approach to using cloud-resolving models to study the interactions between clouds, precipitation and aerosols will be presented.

Tao, Wei-Kuo↗
NASA NTRS2005

A New Approach to Using a Cloud-resolving Model to Study the Interactions Between Clouds, Precipitation and Aerosols

Numerical cloud models, which are based the non-hydrostatic equations of motion, have been extensively applied to cloud-scale and mesoscale processes during the past four decades. Because cloud-scale dynamics are treated explicitly, uncertainties stemming from convection that have to be parameterized in (hydrostatic) large-scale models are obviated, or at least mitigated, in cloud models. Global models will use the non-hydrostatic framework when their horizontal resolution becomes about 10 km, the theoretical limit for the hydrostatic approximation. This juncture will be reached one to two decades from now. Over the past generation, voluminous datasets on atmospheric convection have been accumulated from radar, instrumented aircraft, satellites, and rawinsonde measurements in field campaigns, enabling the detailed evaluation of models. Improved numerical methods have resulted in more accurate and efficient dynamical cores in models. Improvements have been made in the parameterizations of microphysical processes, radiation, boundary-layer effects, and turbulence; however, microphysical parameterizations remain a major source of uncertainty in all classes of atmospheric models. In recent years, exponentially increasing computer power has extended cloud-resolving-model integrations from hours to months, the number of computational grid points from less than a thousand to close to ten million. Three-dimensional models are now more prevalent. Much attention is devoted to precipitating cloud systems where the crucial 1-km scales are resolved in horizontal domains as large as l0,OOO km in two-dimensions, and 1,OOO x 1,OOO km2 in three-dimensions. Cloud models now provide statistical information useful for developing more realistic physically-based parameterizations for climate models and numerical weather prediction models. A review of developments and applications of cloud models in the past, present and future will be presented in this talk. In particular, a new approach to using cloud-resolving models to study the interactions between clouds, precipitation and aerosols will be presented.

Tao, Wei-Kuo↗
NASA NTRS2005

A New Approach to using a Cloud-Resolving Model to Study the Interactions between Clouds, Precipitation and Aerosols

Numerical cloud models, which are based the non-hydrostatic equations of motion, have been extensively applied to cloud-scale and mesoscale processes during the past four decades. Because cloud-scale dynamics are treated explicitly, uncertainties stemming from convection that have to be parameterized in (hydrostatic) large-scale models are obviated, or at least mitigated, in cloud models. Global models will use the non-hydrostatic framework when their horizontal resolution becomes about 10 km, the theoretical limit for the hydrostatic approximation. This juncture will be reached one to two decades from now. Over the past generation, voluminous datasets on atmospheric convection have been accumulated from radar, instrumented aircraft, satellites, and rawinsonde measurements in field campaigns, enabling the detailed evaluation of models. Improved numerical methods have resulted in more accurate and efficient dynamical cores in models. Improvements have been made in the parameterizations of microphysical processes, radiation, boundary-layer effects, and turbulence; however, microphysical parameterizations remain a major source of uncertainty in all classes of atmospheric models. In recent years, exponentially increasing computer power has extended cloud-resolving-model integrations from hours to months, the number of computational grid points from less than a thousand to close to ten million. Three-dimensional models are now more prevalent. Much attention is devoted to precipitating cloud systems where the crucial 1-km scales are resolved in horizontal domains as large as 10,000 km in two-dimensions, and 1,000 x 1,000 square kilometers in three-dimensions. Cloud models now provide statistical information useful for developing more realistic physically-based parameterizations for climate models and numerical weather prediction models. A review of developments and applications of cloud models in the past, present and future will be presented in this talk. In particular, a new approach to using cloud-resolving models to study the interactions between clouds, precipitation and aerosols will be presented.

Tao, Wei-Kuo↗
NASA NTRS1985

Desorption from interstellar grains

Different desorption mechanisms from interstellar grains are considered to resolve the conflict between the observed presence of gaseous species in molecular clouds and their expected depletion onto grains. The physics of desorption is discussed with particular reference to the process of grain heating and the specific heat of the dust material. Impulsive heating by X-rays and cosmic rays is addressed. Spot heating of the grains by cosmic rays and how this can lead to desorption of mantles from very large grains is considered. It is concluded that CO depletion on grains will be small in regions with A(V) less than five from the cloud surface and n(H) less than 10,000, in agreement with observations and in contrast to expectations from pure thermal equilibrium. Even in very dense and obscured regions and in the absence of internal ultraviolet sources, the classical evaporation of CO or N2 and O2-rich mantles by cosmic rays is important.

Leger, A.↗
NASA NTRS2001

Observed and Simulated Radiative and Microphysical Properties of Tropical Convective Storms

Increases in the ice content, albedo and cloud cover of tropical convective storms in a warmer climate produce a large negative contribution to cloud feedback in the GISS GCM. Unfortunately, the physics of convective upward water transport, detrainment, and ice sedimentation, and the relationship of microphysical to radiative properties, are all quite uncertain. We apply a clustering algorithm to TRMM satellite microwave rainfall retrievals to identify contiguous deep precipitating storms throughout the tropics. Each storm is characterized according to its size, albedo, OLR, rain rate, microphysical structure, and presence/absence of lightning. A similar analysis is applied to ISCCP data during the TOGA/COARE experiment to identify optically thick deep cloud systems and relate them to large-scale environmental conditions just before storm onset. We examine the statistics of these storms to understand the relative climatic roles of small and large storms and the factors that regulate convective storm size and albedo. The results are compared to GISS GCM simulated statistics of tropical convective storms to identify areas of agreement and disagreement.

DelGenio, Anthony D.↗
NASA NTRS2015

How Difficult is it to Reduce Low-Level Cloud Biases With the Higher-Order Turbulence Closure Approach in Climate Models?

Low-level clouds cover nearly half of the Earth and play a critical role in regulating the energy and hydrological cycle. Despite the fact that a great effort has been put to advance the modeling and observational capability in recent years, low-level clouds remains one of the largest uncertainties in the projection of future climate change. Low-level cloud feedbacks dominate the uncertainty in the total cloud feedback in climate sensitivity and projection studies. These clouds are notoriously difficult to simulate in climate models due to its complicated interactions with aerosols, cloud microphysics, boundary-layer turbulence and cloud dynamics. The biases in both low cloud coverage/water content and cloud radiative effects (CREs) remain large. A simultaneous reduction in both cloud and CRE biases remains elusive. This presentation first reviews the effort of implementing the higher-order turbulence closure (HOC) approach to representing subgrid-scale turbulence and low-level cloud processes in climate models. There are two HOCs that have been implemented in climate models. They differ in how many three-order moments are used. The CLUBB are implemented in both CAM5 and GDFL models, which are compared with IPHOC that is implemented in CAM5 by our group. IPHOC uses three third-order moments while CLUBB only uses one third-order moment while both use a joint double-Gaussian distribution to represent the subgrid-scale variability. Despite that HOC is more physically consistent and produces more realistic low-cloud geographic distributions and transitions between cumulus and stratocumulus regimes, GCMs with traditional cloud parameterizations outperform in CREs because tuning of this type of models is more extensively performed than those with HOCs. We perform several tuning experiments with CAM5 implemented with IPHOC in an attempt to produce the nearly balanced global radiative budgets without deteriorating the low-cloud simulation. One of the issues in CAM5-IPHOC is that cloud water content is much higher than in CAM5, which is combined with higher low-cloud coverage to produce larger shortwave CREs in some low-cloud prevailing regions. Thus, the cloud-radiative feedbacks are exaggerated there. The turning exercise is focused on microphysical parameters, which are also commonly used for tuning in climate models. The results will be discussed in this presentation.

Xu, Kuan-Man↗
NASA NTRS2021

Inference of Precipitation in Warm Stratiform Clouds using Remotely Sensed Observations of the Cloud Top Droplet Size Distribution

Drizzle is a common feature of warm stratiform clouds and it influences their radiative effects by modulating their physical properties and lifecycle. An important component of drizzle formation are processes that lead to a broadening of the droplet size distribution (DSD). Here, we examine observations of cloud and drizzle properties retrieved using colocated airborne measurements from the Research Scanning Polarimeter and the Third Generation Airborne Precipitation Radar. We observe a bimodal DSD as the aircraft transects drizzling open-cells whereby the larger mode reaches a maximum size near cloud center and the smaller mode remains relatively constant in size. We review similarities between our observations with droplet growth processes and their connections with precipitation onset. We estimate droplet sedimentation using the cloud top DSD and find a correlation with rain water path of 0.82. We also examine how changes in liquid water paths and droplet concentrations may act to enhance or suppress precipitation.

Droplet size distribution↗
NASA NTRS2017

A Method for Obtaining High Frequency, Global, IR-Based Convective Cloud Tops for Studies of the TTL

Models of varying complexity that simulate water vapor and clouds in the Tropical Tropopause Layer (TTL) show that including convection directly is essential to properly simulating the water vapor and cloud distribution. In boreal winter, for example, simulations without convection yield a water vapor distribution that is too uniform with longitude, as well as minimal cloud distributions. Two things are important for convective simulations. First, it is important to get the convective cloud top potential temperature correctly, since unrealistically high values (reaching above the cold point tropopause too frequently) will cause excessive hydration of the stratosphere. Second, one must capture the time variation as well, since hydration by convection depends on the local relative humidity (temperature), which has substantial variation on synoptic time scales in the TTL. This paper describes a method for obtaining high frequency (3-hourly) global convective cloud top distributions which can be used in trajectory models. The method uses rainfall thresholds, standard IR brightness temperatures, meteorological temperature analyses, and physically realistic and documented corrections IR brightness temperature corrections to derive cloud top altitudes and potential temperatures. The cloud top altitudes compare well with combined CLOUDSAT and CALIPSO data, both in time-averaged overall vertical and horizontal distributions and in individual cases (correlations of .65-.7). An important finding is that there is significant uncertainty (nearly .5 km) in evaluating the statistical distribution of convective cloud tops even using lidar. Deep convection whose tops are in regions of high relative humidity (such as much of the TTL), will cause clouds to form above the actual convection. It is often difficult to distinguish these clouds from the actual convective cloud due to the uncertainties of evaluating ice water content from lidar measurements. Comparison with models show that calculated cloud top altitudes are generally higher than those calculated by global analyses (e.g., MERRA). Interannual variability in the distribution of convective cloud top altitudes is also investigated.

hydration↗
NASA NTRS2000

Design and Performance of McRas in SCMs and GEOS I/II GCMs

The design of a prognostic cloud scheme named McRAS (Microphysics of clouds with Relaxed Arakawa-Schubert Scheme) for general circulation models (GCMs) will be discussed. McRAS distinguishes three types of clouds: (1) convective, (2) stratiform, and (3) boundary-layer types. The convective clouds transform and merge into stratiform clouds on an hourly time-scale, while the boundary-layer clouds merge into the stratiform clouds instantly. The cloud condensate converts into precipitation following the auto-conversion equations of Sundqvist that contain a parametric adaptation for the Bergeron-Findeisen process of ice crystal growth and collection of cloud condensate by precipitation. All clouds convect, advect, as well as diffuse both horizontally and vertically with a fully interactive cloud-microphysics throughout the life-cycle of the cloud, while the optical properties of clouds are derived from the statistical distribution of hydrometeors and idealized cloud geometry. An evaluation of McRAS in a single column model (SCM) with the GATE Phase III and 5-ARN CART datasets has shown that together with the rest of the model physics, McRAS can simulate the observed temperature, humidity, and precipitation without many systematic errors. The time history and time mean incloud water and ice distribution, fractional cloudiness, cloud optical thickness, origin of precipitation in the convective anvil and towers, and the convective updraft and downdraft velocities and mass fluxes all show a realistic behavior. Performance of McRAS in GEOS 11 GCM shows several satisfactory features but some of the remaining deficiencies suggest need for additional research involving convective triggers and inhibitors, provision for continuously detraining updraft, a realistic scheme for cumulus gravity wave drag, and refinements to physical conditions for ascertaining cloud detrainment level.

Sud, Yogesh C.↗
NASA NTRS2004

Precipitation and Latent Heating Distributions from Satellite Passive Microwave Radiometry: Evaluation of Estimates Using Independent Data - Part 2

Rainfall rate estimates from space-borne k&ents are generally accepted as reliable by a majority of the atmospheric science commu&y. One-of the Tropical Rainfall Measuring Mission (TRh4M) facility rain rate algorithms is based upon passive microwave observations fiom the TRMM Microwave Imager (TMI). Part I of this study describes improvements in the TMI algorithm that are required to introduce cloud latent heating and drying as additional algorithm products. Here, estimates of surface rain rate, convective proportion, and latent heating are evaluated using independent ground-based estimates and satellite products. Instantaneous, OP5resolution estimates of surface rain rate over ocean fiom the improved TMI algorithm are well correlated with independent radar estimates (r approx. 0.88 over the Tropics), but bias reduction is the most significant improvement over forerunning algorithms. The bias reduction is attributed to the greater breadth of cloud-resolving model simulations that support the improved algorithm, and the more consistent and specific convective/stratiform rain separation method utilized. The bias of monthly, 2.5 deg. -resolution estimates is similarly reduced, with comparable correlations to radar estimates. Although the amount of independent latent heating data are limited, TMI estimated latent heating profiles compare favorably with instantaneous estimates based upon dual-Doppler radar observations, and time series of surface rain rate and heating profiles are generally consistent with those derived from rawinsonde analyses. Still, some biases in profile shape are evident, and these may be resolved with: (a) additional contextual information brought to the estimation problem, and/or; (b) physically-consistent and representative databases supporting the algorithm. A model of the random error in instantaneous, 0.5 deg-resolution rain rate estimates appears to be consistent with the levels of error determined from TMI comparisons to collocated radar. Error model modifications for non-raining situations will be required, however. Sampling error appears to represent only a fraction of the total error in monthly, 2S0-resolution TMI estimates; the remaining error is attributed to physical inconsistency or non-representativeness of cloud-resolving model simulated profiles supporting the algorithm.

Yang, Song↗
NASA NTRS1979

Imaging and polarimetry with the Pioneer Venus Orbiter Cloud Photopolarimeter

The objective of the Orbiter Cloud Photopolarimeter (OCPP) on board the Pioneer Venus Orbiter spacecraft is twofold: (1) to determine the physical properties, vertical and horizontal distribution and the temporal variability of the haze and cloud aerosols on Venus; and (2) to record in images made in the near ultraviolet the varying cloud morphology and the short- and long-term character of the apparent cloud motions. Early images exhibit numerous cloud features and apparent circulation patterns similar to those observed by Mariner 10 in 1974. Features of the polar regions are identified. Polarimetry measurements indicate that the main visible cloud layer of 1-micron-radius sulfuric acid droplets is covered at least in the morning terminator region with a thin haze layer consisting of submicron-size particles. The OCPP performance appears to be excellent.

Travis, L. D.↗
NASA NTRS1987

The physics of interstellar shock waves

This review discusses the observations and theoretical models of interstellar shock waves, in both diffuse cloud and molecular cloud environments. It summarizes the relevant gas dynamics, atomic, molecular and grain processes, radiative transfer, and physics of radiative and magnetic precursors in shock models. It then describes the importance of shocks for observations, diagnostics, and global interstellar dynamics. It concludes with current research problems and data needs for atomic, molecular and grain physics.

Shull, J. Michael↗
NASA NTRS1993

Use of stratospheric aerosol properties as diagnostics of Antarctic vortex processes

Physical properties of the stratospheric aerosol population are inferred from cloud-free SAGE II multiwavelength extinction measurements in the Antarctic during late summer (February/March) and spring (September/October, November). Seasonal changes in these properties are used to infer physical processes occurring in the Antarctic stratosphere over the course of the winter. The analysis suggests that the apparent springtime cleansing of the Antarctic stratosphere is the result of aerosol redistribution through subsidence of the polar vortex air mass and sedimentation of large polar stratospheric cloud particles. The analysis also suggests that vortex processes are responsible for a significant downward transport of aerosol through the tropopause.

Thomason, Larry W.↗
NASA NTRS2016

Multistatic Aerosol Cloud Lidar in Space: A Theoretical Perspective

Accurate aerosol and cloud retrievals from space remain quite challenging and typically involve solving a severely ill-posed inverse scattering problem. In this Perspective, we formulate in general terms an aerosol and aerosol-cloud interaction space mission concept intended to provide detailed horizontal and vertical profiles of aerosol physical characteristics as well as identify mutually induced changes in the properties of aerosols and clouds. We argue that a natural and feasible way of addressing the ill-posedness of the inverse scattering problem while having an exquisite vertical-profiling capability is to fly a multistatic (including bistatic) lidar system. We analyze theoretically the capabilities of a formation-flying constellation of a primary satellite equipped with a conventional monostatic (backscattering) lidar and one or more additional platforms each hosting a receiver of the scattered laser light. If successfully implemented, this concept would combine the measurement capabilities of a passive multi-angle multi-spectral polarimeter with the vertical profiling capability of a lidar; address the ill-posedness of the inverse problem caused by the highly limited information content of monostatic lidar measurements; address the ill-posedness of the inverse problem caused by vertical integration and surface reflection in passive photopolarimetric measurements; relax polarization accuracy requirements; eliminate the need for exquisite radiative-transfer modeling of the atmosphere-surface system in data analyses; yield the day-and-night observation capability; provide direct characterization of ground-level aerosols as atmospheric pollutants; and yield direct measurements of polarized bidirectional surface reflectance. We demonstrate, in particular, that supplementing the conventional backscattering lidar with just one additional receiver flown in formation at a scattering angle close to 170deg can dramatically increase the information content of the measurements. Although the specific subject of this Perspective is the multistatic lidar concept, all our conclusions equally apply to a multistatic radar system intended to study from space the global distribution of cloud and precipitation characteristics.

aerosols↗