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At least 775 records · Page 43

Estimating Climatological Bias Errors for the Global Precipitation Climatology Project (GPCP)

A procedure is described to estimate bias errors for mean precipitation by using multiple estimates from different algorithms, satellite sources, and merged products. The Global Precipitation Climatology Project (GPCP) monthly product is used as a base precipitation estimate, with other input products included when they are within +/- 50% of the GPCP estimates on a zonal-mean basis (ocean and land separately). The standard deviation s of the included products is then taken to be the estimated systematic, or bias, error. The results allow one to examine monthly climatologies and the annual climatology, producing maps of estimated bias errors, zonal-mean errors, and estimated errors over large areas such as ocean and land for both the tropics and the globe. For ocean areas, where there is the largest question as to absolute magnitude of precipitation, the analysis shows spatial variations in the estimated bias errors, indicating areas where one should have more or less confidence in the mean precipitation estimates. In the tropics, relative bias error estimates (s/m, where m is the mean precipitation) over the eastern Pacific Ocean are as large as 20%, as compared with 10%-15% in the western Pacific part of the ITCZ. An examination of latitudinal differences over ocean clearly shows an increase in estimated bias error at higher latitudes, reaching up to 50%. Over land, the error estimates also locate regions of potential problems in the tropics and larger cold-season errors at high latitudes that are due to snow. An empirical technique to area average the gridded errors (s) is described that allows one to make error estimates for arbitrary areas and for the tropics and the globe (land and ocean separately, and combined). Over the tropics this calculation leads to a relative error estimate for tropical land and ocean combined of 7%, which is considered to be an upper bound because of the lack of sign-of-the-error canceling when integrating over different areas with a different number of input products. For the globe the calculated relative error estimate from this study is about 9%, which is also probably a slight overestimate. These tropical and global estimated bias errors provide one estimate of the current state of knowledge of the planet's mean precipitation.

Global Precipitation Climatology Project (GPCP)↗

Comparison of high-resolution airborne soil moisture retrievals to SMAP soil moisture during the SMAP validation experiment 2016 (SMAPVEX16)

The NASA's Soil Moisture Active Passive (SMAP) mission conducted a field experiment with its partners over two 40-km agricultural domains in Iowa and Manitoba in the summer of 2016 to address concerns observed in SMAP soil moisture (SM) retrievals over agricultural areas. The experiment featured airborne Passive Active L-band System (PALS) flights over each domain with intensive ground measurements and dense networks of SM monitoring stations. With two intensive observation periods separated in time (May 28–June 20 and July 14–August 16), the flights captured both early-season/low vegetation and later-season/high-vegetation conditions. The comparison of the PALS brightness temperature (TB) measurements to the SMAP TB observed over the sites resulted in root mean square difference (RMSD) of 2.8 K and 4.0 K for vertical and horizontal polarizations, respectively. The subsequent SM analysis rescaled the PALS TB with the SMAP TB to allow equitable comparisons between the SM retrievals from the two instruments. The PALS SM retrieval algorithm used the SM sampled by the ground teams during the overpass days for tuning, and was parameterized by a high-resolution vegetation water content product calibrated using vegetation samples collected during the experiment. The tuning process was not able to find a satisfactory result with a temporally constant set of parameters in the single channel algorithm for the two intensive observation periods of the experiment. This result indicated that the rapid change in the vegetation structure during the growth stages and likely variation in the surface roughness conditions were not compatible with rigid parameterization over the entire period. However, using seasonally variable parameters we found that it was possible to retrieve soil moisture with satisfactory accuracy. Comparative analysis with the SMAP SM product included aggregation of the PALS SM to the SMAP pixel-scale. The RMSD between the PALS SM and the aggregated manual field samples was <0.04 m3/m3 with Pearson correlation >0.85 for both sites. The comparison between different in situ sources indicated that the soil moisture network measurements were not the source of the large biases observed for SMAP over the sites reported in earlier studies. Therefore, the results suggested the rapidly growing vegetation and the early-season surface condition changes not captured by the SMAP algorithm caused the SMAP retrieval errors. In addition, the significant deviations of the vegetation water content used by the SMAP product from the calibrated vegetation water content obtained during the experiment compounds the problem.

Andreas Colliander↗

Soil Carbon Losses Reduce Soil Moisture in Global Climate Model Simulations

Most agricultural soils have experienced substantial soil organic carbon losses in time. These losses motivate recent calls to restore organic carbon in agricultural lands to improve biogeochemical cycling and for climate change mitigation. Declines in organic carbon also reduce soil infiltration and water holding capacity, which may have important effects on regional hydrology and climate. To explore the regional hydroclimate impacts of soil organic carbon changes, we conduct new global climate model experiments with NASA Goddard Institute for Space Studies ModelE that include spatially explicit soil organic carbon concentrations associated with different human land management scenarios. Compared to a “no land use” case, a year 2010 soil degradation scenario, in which organic carbon content (OCC; weight %) is reduced by a factor of ∼0.12 on average across agricultural soils, resulted in soil moisture losses between 0.5 and 1 temporal standard deviations over eastern Asia, northern Europe, and the eastern United States. In a more extreme idealized scenario where OCC is reduced uniformly by 0.66 across agricultural soils, soil moisture losses exceed one standard deviation in both hemispheres. Within the model, these soil moisture declines occur primarily due to reductions in porosity (and to a lesser extent infiltration) that overall soil water holding capacity. These results demonstrate that changes in soil organic carbon can have meaningful, large-scale effects on regional hydroclimate and should be considered in climate model evaluations and developments. Further, this also suggests that soil restoration efforts targeting the carbon cycle are likely to have additional benefits for improving drought resilience.

Atmosphere-land interaction↗

Version 8 of the SMAP Level-4 Soil Moisture Data Assimilation Product

The NASA Soil Moisture Active Passive (SMAP) mission Level-4 Soil Moisture (L4_SM) product provides global, 9-km resolution, 3-hourly surface (0-5 cm) and root-zone (0-100 cm) soil moisture from April 2015 to present with a mean latency of 2.5 days from the time of observation. The product is based on the assimilation of SMAP L-band (1.4 GHz) brightness temperature (Tb) observations into the NASA Catchment land surface model as the model is driven with observations-based precipitation forcing. This presentation discusses the improvements in the forthcoming Version 8 of L4_SM, including updates in the precipitation forcing, the Catchment model parameters, and the L-band microwave radiative transfer model (mwRTM). The precipitation observations used in L4_SM Version 8 outside of North America and the high latitudes are from the latest (Version 7) NASA Integrated Multi-satellitE Retrievals for the Global Precipitation Measurement mission (IMERG) products. Moreover, occasionally excessive precipitation rates in earlier versions of L4_SM along certain longitudes in North America were eliminated by a bug fix in the precipitation corrections algorithm. The Catchment model in L4_SM Version 8 uses climatological snow albedo values based on observations from the Moderate Resolution Imaging Spectroradiometer, replacing the look-up table parameterization of earlier versions. Additionally, corrected soil parameters were implemented for a small region in Argentina that had erroneously been classified as peat because of an error in the ancillary soil data. Finally, the mwRTM in L4_SM Version 8 uses the Mironov soil mixing approach and updated values of the L-band scattering albedo, soil roughness, and vegetation opacity climatology obtained from the latest (Release 19) SMAP Level-2 dual-channel soil moisture retrieval product. During the development of L4_SM Version 8, the change in the mwRTM parameterization resulted in a reduced unbiased RMSE of surface soil moisture when verified against in situ measurements. It also reduced the standard deviation of the Tb observation-minus-forecast residuals by ~0.15 K, highlighting the importance of the mwRTM for successful data assimilation. The bug fixes in the precipitation corrections algorithm and the Catchment model soil parameters in the Argentina region result in locally large improvements of the simulated land surface states. In summary, the ongoing refinements of the L4_SM product continue to improve its science quality and performance for global soil moisture monitoring

Rolf Reichle↗

Constraints on f ( R ) and normal-branch Dvali-Gabadadze-Porrati modified gravity model parameters with cluster abundances and galaxy clustering

In this report we present forecasted cosmological constraints from combined measurements of galaxy cluster abundances from the Simons Observatory and galaxy clustering from a DESI-like experiment on two well-studied modified gravity models, the chameleon-screened Hu-Sawicki f(R) model and the nDGP braneworld Vainshtein model. A Fisher analysis is conducted using σ 8 constraints derived from thermal Sunyaev-Zel’dovich (tSZ) selected galaxy clusters as well as linear and quasilinear redshift-space 2-point galaxy correlation functions. We find that the cluster abundances drive the constraints on the nDGP model while f(R) constraints are led by galaxy clustering. The two tracers of the cosmological gravitational field are found to be complementary, and their combination significantly improves constraints on the f(R) in particular in comparison to each individual tracer alone. For a model of f(R) with a general relativity (GR) fiducial case (f R0 = 0), we find a 2-σ upper limit of f R0 ≤ 5.68 x10 -7 . For the well-studied log-based fiducial parameter value in f(R), log 10 (f R0 ) = -5, paired with the parameter value n = 1, we find combined 1-σ constraints of σ(log 10 (f R0 )) = 0.12 and σ(n) = 0.36. For the nDGP model with fiducial n nDGP = 1 we find σ( n nDGP ) = 0.087. Our results present the exciting potential to utilize upcoming galaxy and CMB survey data available in the near future to discern and/or constrain cosmic deviations from GR.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

Experimental aerodynamic characteristics of a generic hypersonic accelerator configuration at Mach numbers 1.5 and 2.0

An experimental investigation of the static longitudinal and lateral-directional aerodynamic characteristics of a generic hypersonic research vehicle was conducted in the Langley Unitary Plan Wind Tunnel (UPWT). A parametric study was performed to determine the interference effects of various model components. Configuration variables included delta and trapezoidal canards; large and small centerline-mounted vertical tails, along with a set of wing-mounted vertical tails; and a set of model noses with different degrees of bluntness. Wing position was varied by changing the longitudinal location and the incidence angle. The test Mach numbers were 1.5 and 2.0 at Reynolds numbers of 1 x 10(exp 6) per foot, 2 x 10(exp 6) per foot, and 4 x 10(exp 6) per foot. Angle of attack was varied from -4 degrees to 27 degrees, and sideslip angle was varied from -8 degrees to 8 degrees. Generally, the effect of Reynolds number did not deviate from conventional trends. The longitudinal stability and lift-curve slope decreased with increasing Mach number. As the wing was shifted rearward, the lift-curve slope decreased and the longitudinal stability increased. Also, the wing-mounted vertical tails resulted in a more longitudinally stable configuration. In general, the lift-drag ratio was not significantly affected by vertical-tail arrangement. The best lateral-directional stability was achieved with the large centerline-mounted tail, although the wing-mounted vertical tails exhibited the most favorable characteristics at the higher angles of attack.

Walker, Ira J.↗

Fluidization of Group A Glass Particles: Experiments and Preliminary Validation

This work is aimed at providing reliable high-quality data from fluidization experiments. Geldart Group A glass beads are used as bed material. The fluidizing medium is air at atmospheric pressure which enters the system at 40% relative humidity. The air inlet velocity is varied over a broad range from 2 U mf to 26 U mf , where the minimum fluidization velocity, U mf , is 0.608 cm/s. There is not a significant change in the mean values of differential pressure; however, there are noticeable trends in their standard deviation values. Preliminary validation studies are performed using the open-source software Multiphase Flow with Interphase eXchanges (MFiX) developed by the National Energy Technology Laboratory (NETL). The results from Eulerian-Eulerian (MFiX-TFM, two-fluid model) and Eulerian-Lagrangian (MFiX-PIC, particle-in-cell) formulations are compared. The work presented in this report highlights the applicability of MFiX-PIC for large-scale applications, and reveals that PIC simulation offers a suitable alternative to TFM simulation when effects due to multiple components or polydispersity are significant. PIC modeling provides a readily extendible framework for such systems. However, PIC models do rely on an empirical closure for inter-particle stress. Some solution discrepancies were evident in MFiX-PIC predictions which require further analysis. As such, the study underlines the need for a systematic approach to quantify the sources of numerical uncertainty within the PIC model. However, even with known empiricism, MFiX-PIC has demonstrated considerable potential in analyzing gas-solid systems. The results obtained are encouraging and warrant further investigation to improve the predictive capability of MFiX-PIC.

36 MATERIALS SCIENCE↗

On the prediction of pressure effects for the combination kinetics of two alkyl radicals with the geometric mean rule

Here, alkyl combination reactions, along with their reverse alkane unimolecular decomposition reactions, are widely present in pyrolysis and combustion systems. These reactions occur mainly at temperatures at which their rate coefficients depend on pressure, and only a few studies have explored this dependence for large size alkyls. The accurate calculation of these kinetic data is limited by the size of the alkyl fragments involved, since the theoretical methods used are computationally expensive. Therefore, little reliable data is available for the modeling of real fuels alkane decomposition kinetics. In this paper, we propose an alternative approach that allows an accurate estimation of pressure-dependent kinetic rates for the combination of long-chain alkyl radicals, based on tabulated reaction models. The rates of combination of linear alkyls radicals forming ethane to pentane were calculated using the CASPT2-F12/cc-pVDZ-F12 level within VRC-TST theory combined with master-equation simulations. The computed high-pressure limit rate coefficients showed that n-propyl could be a minimum-size representative structure for larger n-alkyl chain, but this approach fails to capture the pressure dependence of the reaction that remains size-dependent for larger alkyls. The Geometric Mean Rule (GMR), a simple rule that links the self and cross-reactions of three alkyl radicals, is used to address this issue. Our theoretical calculations show for the first time that the GMR applies not only at the high-pressure limit, but also for every pressure explored. The GMR is shown to be accurate, with a maximum 22 % deviation in the falloff region for the estimation of rates for small alkyl combinations. Using this method, we propose a tabulated reaction rate rule for the combination of alkyl radicals up to C5+C5. The use of computed rate coefficients with the GMR approximation opens ways to develop pressure-dependent reaction rate rules for large n-alkyl combinations, based on accurate and computationally expensive theoretical calculations on smaller alkyl fragments.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Simulations of biomass pyrolysis using glued-sphere CFD-DEM with 3-D intra-particle models

The shape of biomass particles influences intra-particle heat transfer, particle-particle collisions, interphase momentum, heat transfer, and pyrolysis yield. In this research, the effects of these multi-scale phenomena are captured using a glued-sphere computational fluid dynamic discrete element method (CFD-DEM) with 3-D intra-particle models. The glued-spheres resolved the shapes of particles and intra-particle temperature and species distributions. The implementation was validated using the pyrolysis data of a spherical particle and a cylindrical particle. Then, the influences of biomass shapes and sizes on pyrolysis were investigated. The results revealed the significant influence of surface areas and mass distributions on interphase heat transfer and chemical reactions. The intra-particle heat transfer is neglectable for a Biot number smaller than 0.41. Finally, the pyrolysis of irregularly shaped biomass particles in a fixed bed, fluidized bed, and spouted bed was simulated. Analysis of conversion distributions showed the largest deviations in the fixed bed and the slowest conversion rate in the spouted bed. A good balance between uniform and fast conversion is achieved in the fluidized bed. The multi-scale method proposed in this research provides a tool for the evaluation of large irregular-shaped biomass particle pyrolysis in different types of reactors.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Observation of gauge boson joint-polarisation states in W ± Z production from pp collisions at s = 13 TeV with the ATLAS detector

Measurements of joint-polarisation states of W and Z gauge bosons in W ± Z production are presented. The data set used corresponds to an integrated luminosity of 139 fb -1 of proton–proton collisions at a centre-of-mass energy of 13 TeV recorded by the ATLAS detector at the CERN Large Hadron Collider. The W ± Z candidate events are reconstructed using leptonic decay modes of the gauge bosons into electrons and muons. The simultaneous pair-production of longitudinally polarised vector bosons is measured for the first time with a significance of 7.1 standard deviations. The measured joint helicity fractions integrated over the fiducial region are $f$ 00 = 0.067 ± 0.010, $f$ 0T = 0.110 ± 0.029, $f$ T0 = 0.179 ± 0.023 and $f$ TT = 0.644 ± 0.032, in agreement with the next-to-leading-order Standard Model predictions. Individual helicity fractions of the W and Z bosons are also measured and found to be consistent with joint helicity fractions within the expected amounts of correlation. Both the joint and individual helicity fractions are also measured separately in W + Z and W - Z events. Inclusive and differential cross sections for several kinematic observables sensitive to polarisation are presented.

43 PARTICLE ACCELERATORS↗

Observation of double parton scattering in same-sign W boson pair production in pp collisions at $\sqrt{s} = 13$ TeV with the ATLAS detector

This letter reports the measurement of double parton scattering in same-sign W boson pair production with the ATLAS detector. The data set used corresponds to an integrated luminosity of 140 fb -1 of proton–proton collisions at a center-of-mass energy of 13 TeV, collected during Run 2 of the Large Hadron Collider. The study is performed in final states including two same-charge leptons, electron or muon, missing transverse momentum, and up to one jet. An excess of events is observed over the expected background contributions with a significance of 8.8 standard deviations. The measured fiducial cross section times leptonic branching fraction is 4.59 ± 0.64 fb. The measurement corresponds to a double parton scattering effective cross section of 10.6 ± 1.8 mb.

DPS↗

Existence of a flat band in highly correlated metal BaCo 2 P 2

We report on the observation of a flat band situated at the Fermi level E F along with the structural, electrical transport, and magnetic properties of BaCo 2 P 2 that crystallizes in the ThCr 2 Si 2 -type body-center tetragonal structure. This compound has the largest inter-layer pnictide (Pn) distance d Pn–Pn as well as the largest c/a ratio among all the known ACo 2 Pn 2 (A = alkaline earth metal) compounds, where a and c are the tetragonal lattice parameters. Hence, the magnetic and electronic properties of this compound are expected to have a quasi-two-dimensional character. Despite the evidence of the presence of sizable magnetic interactions, magnetic susceptibility χ(T) of BaCo 2 P 2 does not show magnetic ordering down to 1.8 K. The material shows good metallic conduction with a large residual resistivity ratio ρ 300 K /ρ 1.8 K ≈ 70 and a Fermi liquid behavior at low temperature. Kadowaki–Woods ratio R KW of BaCo 2 P 2 suggests the presence of sizable electronic correlations within this system. Additionally, a large many-body enhancement of 2.3 of the experimental density of states D γ (E F ) over the band-structure D band (E F ) is inferred to arise from sizable electron-electron and/or electron-phonon interactions leading to a substantial deviation from the free-electron behavior.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

A machine learning-based fast frequency response control for a VSC-HVDC system

An HVDC system can realize a very fast frequency response to the disturbed system under a contingency because its active power control is decoupled from the frequency deviation. However, most of existing HVDC frequency control strategies are coupled with system primary frequency control and secondary frequency control. Since the traditional system frequency control is dominated by the thermal generators, the advantage of the fast response of the HVDC system is not made fully used. The development of a frequency response estimation based on a machine learning algorithm provides another approach to improve the frequency response capability of the HVDC system. Different from other frequency deviation tracking strategies, a machine learning based HVDC frequency response control can directly increase the power flow of a HVDC system by estimation of the system generator or load lost. In this paper, a fast frequency response control using a HVDC system for a large power system disturbance based on the multivariate random forest regression (MRFR) algorithm is proposed. The simulation is carried out with an integrated power system model based on the North American interconnections. The simulation results indicate that the proposed MRFR based frequency response control can significantly improve the frequency low point during an event, while stabilizing the frequency in advance.

42 ENGINEERING↗

Evidence for globally coherent variability in solar magnetic flux emergence

We examine the large-scale spatial and temporal variations in the emergence of X-ray bright points on the sun, in order to study the global properties of magnetic flux emergence. Major variations in the rate of flux emergence are observed at all solar latitudes, on a time scale of 3-5 months. The most economical explanation of the observations is that the full sun participated in a single large eruptive event during the available 8 month observing period from Skylab in 1973. The peak of this global event corresponds in time to the eruption of a major complex of activity. Moreover, it appears that the only portion of the solar surface which deviates from the above pattern of behavior is the low latitude region in the vicinity of the AR complex; this area shows a temporary depletion immediately following the AR outburst. The high-latitude regions in both hemispheres show the same variation and appear to lead the low-latitude emergence by approximately 1 month.

Golub, L.↗

Observations of outbursts from the recurrent X-ray transient A0538-66 and LMC X-4

Nine X-ray outbursts from the LMC have been observed with the HEAO 1 Large-Area Sky Survey Instrument. Some are shown to originate in the recurrent transient A0538-66, confirming the proposed 16 day periodicity and showing that the duration of the events can be as long as 14 days or as short as a few hours. Deviations from precise periodicity can be attributed to phase jitter or to a change in period occurring around the time of an exceptionally long outburst. Other outbursts which are irregular and consistently shorter originate in LMC X-4. A long-term light curve indicates that the LMC X-4 outbursts occur only when the source is in a high state, but are not strongly correlated with the binary phase.

Skinner, G. K.↗

Cirrus cloud retrieval using infrared sounding data: Multilevel cloud errors

In this study we perform an error analysis for cloud-top pressure retrieval using the High-Resolution Infrared Radiometric Sounder (HIRS/2) 15-microns CO2 channels for the two-layer case of transmissive cirrus overlying an overcast, opaque stratiform cloud. This analysis includes standard deviation and bias error due to instrument noise and the presence of two cloud layers, the lower of which is opaque. Instantaneous cloud pressure retrieval errors are determined for a range of cloud amounts (0.1-1.0) and cloud-top pressures (850-250 mb). Large cloud-top pressure retrieval errors are found to occur when a lower opaque layer is present underneath an upper transmissive cloud layer in the satellite field of view (FOV). Errors tend to increase with decreasing upper-cloud effective cloud amount and with decreasing cloud height (increasing pressure). Errors in retrieved upper-cloud pressure result in corresponding errors in derived effective cloud amount. For the case in which a HIRS FOV has two distinct cloud layers, the difference between the retrieved and actual cloud-top pressure is positive in all cases, meaning that the retrieved upper-cloud height is lower than the actual upper-cloud height. In addition, errors in retrieved cloud pressure are found to depend upon the lapse rate between the low-level cloud top and the surface. We examined which sounder channel combinations would minimize the total errors in derived cirrus cloud height caused by instrument noise and by the presence of a lower-level cloud. We find that while the sounding channels that peak between 700 and 1000 mb minimize random errors, the sounding channels that peak at 300-500 mb minimize bias errors. For a cloud climatology, the bias errors are most critical.

Baum, Bryan A.↗

Independent Pixel and Two Dimensional Estimates of LANDSAT-Derived Cloud Field Albedo

A theoretical study has been conducted on the effects of cloud horizontal inhomogeneity on cloud albedo bias. A two-dimensional (2D) version of the Spherical Harmonic Discrete Ordinate Method (SHDOM) is used to estimate the albedo bias of the plane parallel (PP-IPA) and independent pixel (IPA-2D) approximations for a wide range of 2D cloud fields obtained from LANDSAT. They include single layer trade cumulus, open and closed cell broken stratocumulus, and solid stratocumulus boundary layer cloud fields over ocean. Findings are presented on a variety of averaging scales and are summarized as a function of cloud fraction, mean cloud optical depth, cloud aspect ratio, standard deviation of optical depth, and the gamma function parameter Y (a measure of the width of the optical depth distribution). Biases are found to be small for small cloud fraction or mean optical depth, where the cloud fields under study behave linearly. They are large (up to 0.20 for PP-IPA bias, -0.12 for IPA-2D bias) for large v. On a scene average basis PP-IPA bias can reach 0.30, while IPA-2D bias reaches its largest magnitude at -0.07. Biases due to horizontal transport (IPA-2D) are much smaller than PP-IPA biases but account for 20% RMS of the bias overall. Limitations of this work include the particular cloud field set used, assumptions of conservative scattering, constant cloud droplet size, no gas absorption or surface reflectance, and restriction to 2D radiative transport. The LANDSAT data used may also be affected by radiative smoothing.

Chambers, L. H.↗

Improved Path Planning Onboard the Mars Exploration Rovers

A revised version of the AutoNav (autonomous navigation with hazard avoidance) software running onboard each Mars Exploration Rover (MER) affords better obstacle avoidance than does the previous version. Both versions include GESTALT (Grid-based Estimation of Surface Traversability Applied to Local Terrain), a navigation program that generates local-terrain models from stereoscopic image pairs captured by onboard rover cameras; uses this information to evaluate candidate arcs that extend across the terrain from the current rover location; ranks the arcs with respect to hazard avoidance, minimization of steering time, and the direction towards the goal; and combines the rankings in a weighted vote to select an arc, along which the rover is then driven. GESTALT works well in navigating around small isolated obstacles, but tends to fail when the goal is on the other side of a large obstacle or multiple closely spaced small obstacles. When that occurs, the goal seeking votes and hazard avoidance votes conflict severely. The hazard avoidance votes will not allow the rover to drive through the unsafe area, and the waypoint votes will not allow enough deviation from the straight-line path for the rover to get around the hazard. The rover becomes stuck and is unable to reach the goal. The revised version of AutoNav utilizes a global path-planning program, Field D*, to evaluate the cost of traveling from the end of each GESTALT arc to the goal. In the voting process, Field D* arc votes supplant GESTALT goal-seeking arc votes. Hazard avoidance, steering bias, and Field D* votes are merged and the rover is driven a preset distance along the arc with the highest vote. Then new images are acquired and the process as described is repeated until the goal is reached. This new technology allows the rovers to autonomously navigate around much more complex obstacle arrangements than was previously possible. In addition, this improved autonomy enables longer traverses per Sol (a day on Mars), and can make planning drives easier for operators on Earth.

Stentz, Anthony↗