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DOE OSTI2020

Coupled Electro-Thermal Analysis of Permanent Magnet Synchronous Motor for Electric Vehicles

Permanent magnet synchronous motors (PMSM) are extensively used in electric vehicles. However, high internal heat generation and inefficient heat dissipation often limit the operational reliability, and longevity of the PMSM. Therefore, proper quantification of heat generation in electric motor and advanced embedded motor cooling techniques remain topics of immense interest. In order to accurately predict electro-magnetic performance, i.e., efficiency, component-wise heat losses and the corresponding temperature distribution of a jacket cooled machine, this paper presents a two-way iteratively coupled electro-thermal modeling framework. Finite element based software Motor-CAD has been utilized for electro-magnetic performance calculation of BMW i3 PMSM. Finite volume based computational fluid dynamics/heat transfer (CFD/HT) software ANSYS® FLUENT® has been employed to simulate the temperature distribution of the PMSM, using the electro-magnetic losses as heat input. Computed heat losses, stator, winding, rotor, and magnet temperatures are utilized as coupling parameters between the electro-magnetic and thermal models. A conventional one-way coupling algorithm has also been developed and compared to the newly proposed two-way coupling algorithm. Numerical results confirm that at high current density, one-way coupling algorithm significantly over-predicts the motor temperature compared to the two-way algorithm. A comprehensive analysis has been carried out to characterize the influences of current density, speed, and forced convection heat transfer coefficient on the heat losses, overall efficiency, and maximum temperature of the PMSM. Lastly, an efficiency map has been interpreted from the coupled electro-magnetic simulation.

42 ENGINEERING↗

NASA NTRS1976

The minimum drag of thin wings in frictionless flow

The assumptions of the thin airfoil theory are found to provide certain necessary conditions for the minimum drag of airfoils having a given total lift, a given maximum thickness, or a given volume. The conditions are applicable to steady or unsteady motions and to subsonic or supersonic speeds without restriction on the planform. The computation of drag and the statement of the conditions for minimum drag depend on the consideration of a combined flow field, which is obtained by superimposing the disturbance velocities in forward and reversed motions. If the planform of the airfoil and its total lift are given, it is found that, for minimum drag, the lift must be distributed in such a way that the downwash in the combined field is constant over the entire planform. If the planform is given and the thickness of the airfoil is required to contain a specified volume, then the thickness must be distributed over the planform in such a way that the pressure gradient of the combined field in the direction of flight is constant at all points of the wing.

Robert T. Jones↗

NASA NTRS1985

Distribution of Snow and Maximum Snow Water Equivalent Obtained by LANDSAT Data and Degree Day Method

Maximum snow water equivalence and snowcover distribution are estimated using several LANDSAT data taken in snowmelting season over a four year period. The test site is Okutadami-gawa Basin located in the central position of Tohoku-Kanto-Chubu District. The year to year normalization for snowmelt volume computation on the snow line is conducted by year to year correction of degree days using the snowcover percentage within the test basin obtained from LANDSAT data. The maximum snow water equivalent map in the test basin is generated based on the normalized snowmelt volume on the snow line extracted from four LANDSAT data taken in a different year. The snowcover distribution on an arbitrary day in snowmelting of 1982 is estimated from the maximum snow water equivalent map. The estimated snowcover is compared with the snowcover area extracted from NOAA-AVHRR data taken on the same day. The applicability of the snow estimation using LANDSAT data is discussed.

Takeda, K.↗

NASA NTRSDate not supplied

Creating Seasonal Climatologies of Aerosol Lidar Ratios Over Ocean Using MODIS AOD Constrained Retrievals and GOCART Model Simulations

The current CALIPSO algorithms assign one lidar ratio (i.e., extinction-to-backscatter ratio; LR) value globally for each of the seven tropospheric aerosol types. In a future data products release, the CALIPSO project aims to improve these algorithms through the development of regional and seasonal LR climatologies. In this work, aerosol LRs are inferred through CALIOP backscatter profiles constrained by collocated aerosol optical depth (AOD) from Aqua Moderate Resolution Imaging Spectroradiometer (MODIS) data. This analysis is subsampled for those profiles that are cloud-free and contain only one CALIOP-classified aerosol type (e.g., marine). The CALIOP profiles are then collocated with aerosol volume fractions obtained through Goddard Chemistry Aerosol Radiation and Transport (GOCART) model simulations. In this poster, we show twelve-year (June 2006-August 2018) mean spatial distributions of inferred aerosol LRs for CALIOP-classified marine aerosols and how they correspond inversely with patterns of GOCART sea salt volume fraction (SSVF). Near land masses, smaller SSVFs and larger LRs are found (due to the influence of over-land aerosols). In the remote ocean regions (likely less impacted by over-land aerosols), larger SSVFs and smaller LRs are found. The developed relationship between the GOCART model SSVFs and MODIS AOD constrained LRs is used to create model-assisted seasonal LR maps. Additionally, we show maps of inferred LRs from constrained retrievals using the CALIPSO Ocean Derived Column Optical Depth (ODCOD) product and comparisons with those from the MODIS analyses. The technique demonstrated here benefits CALIPSO in the near-term, but similar methods can also be applied to the next generation space-based elastic backscatter lidars with collocated passive sensors, such as those of the upcoming NASA Atmosphere Observing System (AOS).

Travis Toth↗

DOE OSTI2023

DC electric field generation and distribution in magnetized plasmas

Very large DC and AC electric fields cannot be sustained between conducting electrodes because of volume gas breakdown and/or surface field emission. However, very large potential fields are now routinely generated in plasma structures, such as laser generated wake in unmagnetized plasmas. In magnetized plasmas, large DC fields can also be sustained and controlled perpendicular to the magnetic field, but the metallic end plates limiting the plasma, terminating the magnetic field lines, and usually providing the voltage drop feed between the field lines impose severe restrictions on the maximum field. However, it is shown that very large radial DC voltage drops can be sustained by injecting waves of predetermined frequencies and wave vectors, traveling along the azimuthal direction of an axially magnetized plasma cylinder, or by injecting fast neutral particles beams along this azimuthal direction. The large conductivity along the magnetic field lines and the small conductivity between the field lines then distribute this voltage drop. Furthermore, the global power balance and control parameters of wave and beam generated large DC electric fields in magnetized plasmas are identified, described, and analyzed.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2024

AI Surrogate Model for Distributed Computing Workloads

Explore the source record for details and available documents.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS2000

Radiative Properties of Cirrus Clouds in the Infrared (8-13 microns) Spectral Region

Atmospheric radiation in the infrared (IR) 8-13 microns spectral region contains a wealth of information that is very useful for the retrieval of ice cloud properties from aircraft or space-borne measurements. To provide the scattering and absorption properties of nonspherical ice crystals that are fundamental to the IR retrieval implementation, we use the finite-difference time domain (FDTD) method to solve for the extinction efficiency, single-scattering albedo, and the asymmetry parameter of the phase function for ice crystals smaller than 40 microns. For particles larger than this size, the improved geometric optics method (IGOM) can be employed to calculate the asymmetry parameter with an acceptable accuracy, provided that we properly account for the inhomogeneity of the refracted wave due to strong absorption inside the ice particle. A combination of the results computed from the two methods provides the asymmetry parameter for the entire practical range of particle sizes between 1 micron and 10000 microns over wavelengths ranging from 8 microns to 13 microns. For the extinction and absorption efficiency calculations, several methods including the IGOM, Mie solution for equivalent spheres (MSFES), and the anomalous diffraction theory (ADT) can lead to a substantial discontinuity in comparison with the FDTD solutions for particle sizes on the order of 40 microns. To overcome this difficulty, we have developed a novel approach called the stretched scattering potential method (SSPM). For the IR 8-13 microns spectral region, we show that SSPM is a more accurate approximation than ADT, MSFES, and IGOM. The SSPM solution can be further refined numerically. Through a combination of the FDTD and SSPM, we have computed the extinction and absorption efficiency for hexagonal ice crystals with sizes ranging from 1 to 10000 microns at 12 wavelengths between 8 and 13 microns Calculations of the cirrus bulk scattering and absorption properties are performed for 30 size distributions obtained from various field campaigns for midlatitude and tropical cirrus cloud systems. Parameterization of these bulk scattering properties is carried out by using second-order polynomial functions for the extinction efficiency and the single-scattering albedo and the power law expression for the asymmetry parameter. We note that the volume-normalized extinction coefficient can be separated into two parts: one is inversely proportional to effective size and is independent of wavelength, and the other is the wavelength-dependent effective extinction efficiency. Unlike conventional parameterization efforts, the present parameterization scheme is more accurate because only the latter part of the volume-normalized extinction coefficient is approximated in terms of an analytical expression. After averaging over size distribution, the single-scattering albedo is shown to decrease with an increase in effective size for wavelengths shorter than 10.0 microns whereas the opposite behavior is observed for longer wavelengths. The variation of the asymmetry parameter as a function of effective size is substantial when the effective size is smaller than 50 microns. For effective sizes larger than 100 microns, the asymmetry parameter approaches its asymptotic value. The results derived in this study can be useful to remote sensing applications involving IR window bands under cirrus cloud conditions.

Yang, Ping↗

NASA NTRSDate not supplied

Fire Safety Implications of Preliminary Results from Saffire IV and V Experiments on Large Scale Spacecraft Fires

The spread and growth of flames over large solid fuel samples and their effect on the pressurized spacecraft were studied inside the Cygnus spacecraft while in orbit after departing the International Space Station. These experiments were developed by NASA’s Advanced Exploration Systems Division in the Human Exploration and Operations Mission Directorate. The ignited materials consisted of poly-methyl methacrylate (PMMA), cotton fabric and a cotton/fiberglass fabric blend. The samples were all 40 cm wide and with various lengths ranging from 18 cm for the PMMA samples to 50 cm for the fabrics. The overall results from these tests and their impact on the spacecraft are presented with emphasis on the fire safety implications of the results. The experiments included, a post-fire cleanup system, vehicle internal volume measurements, and transport of acid gases (HCl and HF). Measurements included video images, flame spread rate, flame temperatures and radiant heat output; energy release through oxygen calorimetry; distributed measurements of CO2 concentration and temperature at six locations in the spacecraft; CO2, CO, O2, HF and HCl concentrations; vehicle pressurized volume; and aerosol concentrations. Details of the flame growth and spread are discussed in other papers as are details of the post-fire cleanup system performance. The fire events had a measurable impact on the vehicle pressure, temperature, and carbon dioxide concentration. However, despite having heat release rates up to 10 kW, the average vehicle conditions did not rise to unacceptable levels. The combined results of the experiments provide significant new understanding of the impact of sample and flow duct height on flame spread and growth in addition to an improved perspective of the impact of a fire event on a spacecraft.

micorgravity↗

NASA NTRSDate not supplied

Fire Safety Implications of Preliminary Results from Saffire IV and V Experiments on Large Scale Spacecraft Fires

microgravity fire safety↗

NASA NTRSDate not supplied

Mapping Aerosol Lidar Ratios Over Ocean using MODIS AOD Constrained Retrievals and GOCART Model Simulations

After 17 years, the NASA Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observations (CALIPSO) mission ceased science operations in August 2023. For the final CALIPSO data products release (Version 5), the CALIPSO project seeks to improve the accuracy of its aerosol extinction by advancing knowledge of aerosol lidar ratios (i.e., extinction-to-backscatter ratios; LRs) for various aerosol types. The current algorithm assigns one LR value globally for each of the seven tropospheric aerosol types. The CALIPSO team aims to improve the retrieval algorithm through the development of regional and seasonal LR climatologies for the same aerosol types. In this study, aerosol LRs are inferred through Cloud-Aerosol Lidar with Orthogonal Polarization (CALIOP) backscatter profiles constrained by collocated aerosol optical depth (AOD) from Aqua Moderate Resolution Imaging Spectroradiometer (MODIS) data over oceans during daytime. This analysis is subsampled for those profiles that are cloud-free and contain only one CALIOP-classified aerosol type. The CALIOP profiles are then collocated with aerosol volume fractions obtained through Goddard Chemistry Aerosol Radiation and Transport (GOCART) model simulations. This presentation will reveal findings that the 12-year (June 2006-August 2018) mean spatial distributions of inferred aerosol LRs for CALIOP-classified marine and dusty marine aerosols correspond inversely with patterns of GOCART sea salt volume fraction (SSVF). For example, smaller SSVFs (< 65%) and larger LRs (> 55 sr), are found near land masses (Fig. 1). This indicates the influence of advected anthropogenic aerosols (e.g., pollution and biomass burning smoke). In the remote oceans (i.e., regions likely less impacted by non-sea salt aerosols), the SSVFs are larger (> 95%) and the LRs are smaller (< 25 sr) (Fig. 1). A polynomial fit of the MODIS AOD constrained LRs to the corresponding GOCART SSVFs (intersect values of ~58 sr for SSVF of 0% and ~21 sr for SSVF of 100%) is further used to produce model-assisted climatological LR maps on seasonal scales. Additionally, we will show results of a LR validation analysis for which we compare the revised CALIPSO AODs obtained by applying the seasonal/regional constrained LRs against CALIPSO Version 4.51 Ocean Derived Column Optical Depth (ODCOD). While the majority of the presentation will focus on LRs for CALIOP-classified marine and dusty marine aerosols, an overview of LR results will show preliminary results for other aerosol types over ocean, such as dust and elevated smoke. The technique demon-strated in this study highlights the benefits not only to the final planned CALIPSO data release in 2025, but similar methods can be applied to future spaceborne elastic backscatter lidars with collocated passive sensors (e.g., such as those associated with NASA’s proposed Atmosphere Observing System).

Travis D Toth↗

DOE OSTI2025

Viewing is understanding: Graphite microstructure effects on infiltrated molten salt distribution revealed by 3D neutron tomography

Molten salt infiltration in the pore network of nuclear graphite may cause unwanted changes to graphite's local structure and mechanical and thermal properties. A detailed and comprehensive understanding of molten salt intrusion (distribution across sample cross section and penetration depth) is needed to assess its effects. Here, in this work, we report on an improved methodology for the use of neutron imaging (computed tomography) to evaluate salt penetration and distribution of a wide range of graphite grades with diverse microstructures. Neutron tomography data were acquired on the same graphite sample before and after salt intrusion; the 3D reconstructed volumes were digitally co-registered and subtracted. The difference in neutron attenuation coefficient represents direct visualization of FLiNaK (LiF–NaF–KF) salt distribution in the salt-impregnated graphite samples. This improved methodology was applied to investigate the effect of exposure times (12 h and 336 h) and of graphite microstructure when exposed to FLiNaK at 750 °C and 3 bar (gauge) pressure, starting from flowing argon at near atmospheric pressure. The results show that medium-grained and fine-grained graphites evolve to equilibrium at significantly different rates: fast salt uptake in medium-grained graphites produces salt deposits throughout the volume of graphite specimens, whereas salt infiltration in fine-grained graphites is much slower and limited to exposed surfaces.

FLiNaK infiltration↗

NASA NTRS1974

A Stokes' velocity photographic method for measuring the size distribution of aerosols

Aerosol particles are allowed to settle in a vertical glass walled vessel, and their settling velocity is determined by photographing them while the light entering the camera is being chopped at a known rate. The settling velocity of each particle can be determined from the photographs, and by applying the Stokes' law, one can calculate the radius of each particle. The Stokes' law for a sphere settling freely in a quiet medium is given. If the volume of the photographed region of the illumination is known, the aerosol number density and size distribution can be obtained. Experiments with alumina particles of given size distributions indicate that the method works accurately. One set of a typical experiment with 3.0-micrometer Al2O3 particles is presented, which shows that the measured size distribution peaks at approximately 3.0 micrometer.

Deepak, A.↗

NASA NTRS2019

Nanopore-Templated Silver Nanoparticle Arrays Photopolymerized in Zero-Mode Wavelengths

In situ fabrication of nanostructures within a solid-polymer electrolyte confined to subwavelength-diameter nanoapertures is a promising approach for producing nanomaterials for nanophotonic and chemical sensing applications. The solid-polymerelectrolyte can be patterned by lithographic photopolymerization of poly(ethyleneglycol) diacrylate (PEGDA)-based silver cation (Ag+)-containing polyelectrolyte. Here, we present a new method for fabricating nanopore-templated Ag nanoparticle (AgNP)arrays by in situ photopolymerization using a zero-mode waveguide (ZMW) array to simultaneously template embedded AgNPs and control the spatial distribution of the optical field used for photopolymerization. The approach starts with an array of nanopores fabricated by sequential layer-by-layer deposition and focused ion beam milling. These structures have an optically transparent bottom, allowing access of the optical radiation to the attoliter-volume ZMW region to photopolymerize a PEGDA monomer solution containing AgNPs and Ag+. The electric field intensity distribution is calculated for various ZMW optical cladding layer thicknesses using finite-element simulations, closely following the light-blocking efficiency of the optical cladding layer. The fidelity of the polyelectrolyte nanopillar pattern was optimized with respect to experimental conditions, including the presence or absence of Ag+ and AgNPs and the concentrations of PEGDA and Ag+. The self-templated approach for photo patterning high-resolution photolabile polyelectrolyte nanostructures directly within a ZMW array could lead to a new class of metamaterials formed by embedding metal nanoparticles within a dielectric in a well-defined spatial array.

Zero-mode waveguide↗

DOE OSTI2021

Bimodal particle distributions with increased thermal conductivity for solid particles as heat transfer media and storage materials

Solid particles are being considered in several high temperature thermal energy storage systems and as heat transfer media in a variety of advanced power generation systems, particularly in concentrated solar power plants. The downside of such an approach is the low overall heat transfer coefficients caused by the inherently low thermal conductivity values of the low-cost solid media when coupled to heat exchanger for the power cycle working fluid. Choosing the right particle size distribution, emittance, and material of the solid media can all make a substantial difference in packed bed thermal conductivity. Current research though exclusively focuses on continuous unimodal distributions of particles. Here, in this work, we propose the use of a binary particle system with a bimodal size distribution to significantly increase packed bed thermal conductivity by reducing packed bed porosity. This is the first study related to ceramic solid particle heat transfer that has considered the thermal conductivity of non-unimodal size distributions at room and elevated temperatures. The following study found that for the binary particle system using Carbo particles CP 16/30 – CP 70/140 where the large particle volume fraction was 50% there was an 17–47% increase in packed bed thermal conductivity when compared with a nearly unimodal particle size distribution of CP 16/30 between 50 and 300 °C. Two different porosity and effective thermal conductivity models were studied, with one providing better prediction of porosity but both effective thermal conductivity models providing less predictive capacity. Importantly this approach can have a substantial impact of thermal performance, with little to no impact on the particle cost.

36 MATERIALS SCIENCE↗

NASA NTRS1981

Information theory lateral density distribution for Earth inferred from global gravity field

Information Theory Inference, better known as the Maximum Entropy Method, was used to infer the lateral density distribution inside the Earth. The approach assumed that the Earth consists of indistinguishable Maxwell-Boltzmann particles populating infinitesimal volume elements, and followed the standard methods of statistical mechanics (maximizing the entropy function). The GEM 10B spherical harmonic gravity field coefficients, complete to degree and order 36, were used as constraints on the lateral density distribution. The spherically symmetric part of the density distribution was assumed to be known. The lateral density variation was assumed to be small compared to the spherically symmetric part. The resulting information theory density distribution for the cases of no crust removed, 30 km of compensated crust removed, and 30 km of uncompensated crust removed all gave broad density anomalies extending deep into the mantle, but with the density contrasts being the greatest towards the surface (typically + or 0.004 g cm 3 in the first two cases and + or - 0.04 g cm 3 in the third). None of the density distributions resemble classical organized convection cells. The information theory approach may have use in choosing Standard Earth Models, but, the inclusion of seismic data into the approach appears difficult.

Rubincam, D. P.↗

NASA NTRS1994

Power spectrum, correlation function, and tests for luminosity bias in the CfA redshift survey

We describe and apply a method for directly computing the power spectrum for the galaxy distribution in the extension of the Center for Astrophysics Redshift Survey. Tests show that our technique accurately reproduces the true power spectrum for k greater than 0.03 h Mpc(exp -1). The dense sampling and large spatial coverage of this survey allow accurate measurement of the redshift-space power spectrum on scales from 5 to approximately 200 h(exp -1) Mpc. The power spectrum has slope n approximately equal -2.1 on small scales (lambda less than or equal 25 h(exp -1) Mpc) and n approximately -1.1 on scales 30 less than lambda less than 120 h(exp -1) Mpc. On larger scales the power spectrum flattens somewhat, but we do not detect a turnover. Comparison with N-body simulations of cosmological models shows that an unbiased, open universe CDM model (OMEGA h = 0.2) and a nonzero cosmological constant (CDM) model (OMEGA h = 0.24, lambda(sub zero) = 0.6, b = 1.3) match the CfA power spectrum over the wavelength range we explore. The standard biased CDM model (OMEGA h = 0.5, b = 1.5) fails (99% significance level) because it has insufficient power on scales lambda greater than 30 h(exp -1) Mpc. Biased CDM with a normalization that matches the Cosmic Microwave Background (CMB) anisotropy (OMEGA h = 0.5, b = 1.4, sigma(sub 8) (mass) = 1) has too much power on small scales to match the observed galaxy power spectrum. This model with b = 1 matches both Cosmic Background Explorer Satellite (COBE) and the small-scale power spect rum but has insufficient power on scales lambda approximately 100 h(exp -1) Mpc. We derive a formula for the effect of small-scale peculiar velocities on the power spectrum and combine this formula with the linear-regime amplification described by Kaiser to compute an estimate of the real-space power spectrum. Two tests reveal luminosity bias in the galaxy distribution: First, the amplitude of the pwer spectrum is approximately 40% larger for the brightest 50% of galaxies in volume-limited samples that have M(sub lim) greater than M*. This bias in the power spectrum is independent of scale, consistent with the peaks-bias paradigm for galaxy formation. Second, the distribution of local density around galaxies shows that regions of moderate and high density contain both very bright (M less than M* = -19.2 + 5 log h) and fainter galaxies, but that voids preferentially harbor fainter galaxies (approximately 2 sigma significance level).

Park, Changbom↗

NASA NTRS1991

Light scattering by lunar-like particle size distributions

A fundamental input to models of light scattering from planetary regoliths is the mean phase function of the regolith particles. Using the known size distribution for typical lunar soils, the mean phase function and mean linear polarization for a regolith volume element of spherical particles of any composition were calculated from Mie theory. The two contour plots given here summarize the changes in the mean phase function and linear polarization with changes in the real part of the complex index of refraction, n - ik, for k equals 0.01, the visible wavelength 0.55 micrometers, and the particle size distribution of the typical mature lunar soil 72141. A second figure is a similar index-phase surface, except with k equals 0.1. The index-phase surfaces from this survey are a first order description of scattering by lunar-like regoliths of spherical particles of arbitrary composition. They form the basis of functions that span a large range of parameter-space.

Goguen, Jay D.↗

DOE OSTI2023

PhytoOracle: Scalable, modular phenomics data processing pipelines

As phenomics data volume and dimensionality increase due to advancements in sensor technology, there is an urgent need to develop and implement scalable data processing pipelines. Current phenomics data processing pipelines lack modularity, extensibility, and processing distribution across sensor modalities and phenotyping platforms. To address these challenges, we developed PhytoOracle (PO), a suite of modular, scalable pipelines for processing large volumes of field phenomics RGB, thermal, PSII chlorophyll fluorescence 2D images, and 3D point clouds. PhytoOracle aims to ( i ) improve data processing efficiency; ( ii ) provide an extensible, reproducible computing framework; and ( iii ) enable data fusion of multi-modal phenomics data. PhytoOracle integrates open-source distributed computing frameworks for parallel processing on high-performance computing, cloud, and local computing environments. Each pipeline component is available as a standalone container, providing transferability, extensibility, and reproducibility. The PO pipeline extracts and associates individual plant traits across sensor modalities and collection time points, representing a unique multi-system approach to addressing the genotype-phenotype gap. To date, PO supports lettuce and sorghum phenotypic trait extraction, with a goal of widening the range of supported species in the future. At the maximum number of cores tested in this study (1,024 cores), PO processing times were: 235 minutes for 9,270 RGB images (140.7 GB), 235 minutes for 9,270 thermal images (5.4 GB), and 13 minutes for 39,678 PSII images (86.2 GB). These processing times represent end-to-end processing, from raw data to fully processed numerical phenotypic trait data. Repeatability values of 0.39-0.95 (bounding area), 0.81-0.95 (axis-aligned bounding volume), 0.79-0.94 (oriented bounding volume), 0.83-0.95 (plant height), and 0.81-0.95 (number of points) were observed in Field Scanalyzer data. We also show the ability of PO to process drone data with a repeatability of 0.55-0.95 (bounding area).

59 BASIC BIOLOGICAL SCIENCES↗